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rates constrained to new min and max

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Pawel Spychalski (DzikuVx) 2016-05-13 12:09:42 +02:00
parent 5ec4cf715a
commit d534f99fb3
4 changed files with 15 additions and 12 deletions
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11
src/main/io/rc_controls.c
View file

@ -284,12 +284,12 @@ bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationC
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) { for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index]; modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) { if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
return true; return true;
} }
} }
return false; return false;
} }
@ -476,7 +476,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
break; break;
case ADJUSTMENT_PITCH_ROLL_RATE: case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE: case ADJUSTMENT_PITCH_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX); newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_PITCH] = newValue; controlRateConfig->rates[FD_PITCH] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) { if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
@ -484,12 +484,12 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
} }
// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
case ADJUSTMENT_ROLL_RATE: case ADJUSTMENT_ROLL_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX); newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
controlRateConfig->rates[FD_ROLL] = newValue; controlRateConfig->rates[FD_ROLL] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
break; break;
case ADJUSTMENT_YAW_RATE: case ADJUSTMENT_YAW_RATE:
newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX); newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
controlRateConfig->rates[FD_YAW] = newValue; controlRateConfig->rates[FD_YAW] = newValue;
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
break; break;
@ -676,4 +676,3 @@ void resetAdjustmentStates(void)
{ {
memset(adjustmentStates, 0, sizeof(adjustmentStates)); memset(adjustmentStates, 0, sizeof(adjustmentStates));
} }

8
src/main/io/rc_controls.h
View file

@ -109,10 +109,14 @@ typedef enum {
#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25) #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
// Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0: // Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 100 #define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 180
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN 10
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT 20
/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */ /* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */
#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 255 #define CONTROL_RATE_CONFIG_YAW_RATE_MAX 180
#define CONTROL_RATE_CONFIG_YAW_RATE_MIN 2
#define CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT 20
#define CONTROL_RATE_CONFIG_TPA_MAX 100 #define CONTROL_RATE_CONFIG_TPA_MAX 100

6
src/main/io/serial_cli.c
View file

@ -675,9 +675,9 @@ const clivalue_t valueTable[] = {
{ "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0, 100 }, 0 }, { "rc_yaw_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcYawExpo8, .config.minmax = { 0, 100 }, 0 },
{ "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0, 100 }, 0 }, { "thr_mid", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, .config.minmax = { 0, 100 }, 0 },
{ "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, .config.minmax = { 0, 100 }, 0 }, { "thr_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, .config.minmax = { 0, 100 }, 0 },
{ "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, 0 }, { "roll_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, 0 },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, 0 }, { "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX }, 0 },
{ "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], .config.minmax = { 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, 0 }, { "yaw_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], .config.minmax = { CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX }, 0 },
{ "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, 0 }, { "tpa_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, .config.minmax = { 0, CONTROL_RATE_CONFIG_TPA_MAX}, 0 },
{ "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX}, 0 }, { "tpa_breakpoint", VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX}, 0 },

2
src/main/io/serial_msp.c
View file

@ -1219,7 +1219,7 @@ static bool processInCommand(void)
currentControlRateProfile->rcExpo8 = read8(); currentControlRateProfile->rcExpo8 = read8();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
rate = read8(); rate = read8();
currentControlRateProfile->rates[i] = MIN(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX); currentControlRateProfile->rates[i] = constrain(rate, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MIN : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
} }
rate = read8(); rate = read8();
currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX); currentControlRateProfile->dynThrPID = MIN(rate, CONTROL_RATE_CONFIG_TPA_MAX);