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Merge branch 'inav-rates-in-dps' of https://github.com/DzikuVx/cleanflight into DzikuVx-inav-rates-in-dps

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This commit is contained in:
Konstantin (DigitalEntity) Sharlaimov 2016-06-15 20:11:29 +03:00
commit f77eb4788d
15 changed files with 124 additions and 105 deletions
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6
docs/Cli.md
View file

@ -187,13 +187,13 @@ Re-apply any new defaults as desired.
| `yaw_motor_direction` | | -1 | 1 | 1 | Profile | INT8 | | `yaw_motor_direction` | | -1 | 1 | 1 | Profile | INT8 |
| `tri_unarmed_servo` | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0. | OFF | ON | ON | Profile | INT8 | | `tri_unarmed_servo` | On tricopter mix only, if this is set to 1, servo will always be correcting regardless of armed state. to disable this, set it to 0. | OFF | ON | ON | Profile | INT8 |
| `default_rate_profile` | Default = profile number | 0 | 2 | | Profile | UINT8 | | `default_rate_profile` | Default = profile number | 0 | 2 | | Profile | UINT8 |
| `rc_rate` | | 0 | 250 | 90 | Rate Profile | UINT8 |
| `rc_expo` | | 0 | 100 | 65 | Rate Profile | UINT8 | | `rc_expo` | | 0 | 100 | 65 | Rate Profile | UINT8 |
| `rc_yaw_expo` | | 0 | 100 | 0 | Rate Profile | UINT8 | | `rc_yaw_expo` | | 0 | 100 | 0 | Rate Profile | UINT8 |
| `thr_mid` | | 0 | 100 | 50 | Rate Profile | UINT8 | | `thr_mid` | | 0 | 100 | 50 | Rate Profile | UINT8 |
| `thr_expo` | | 0 | 100 | 0 | Rate Profile | UINT8 | | `thr_expo` | | 0 | 100 | 0 | Rate Profile | UINT8 |
| `roll_pitch_rate` | | 0 | 100 | 0 | Rate Profile | UINT8 | | `roll_rate` | Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure.
| `yaw_rate` | | 0 | 100 | 0 | Rate Profile | UINT8 | | `pitch_rate` | Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure. | 6 | 180 | 20 | Rate Profile | UINT8 |
| `yaw_rate` | Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tenths of degrees per second [dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure. | 2 | 180 | 20 | Rate Profile | UINT8 |
| `tpa_rate` | Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate. | 0 | 100 | 0 | Rate Profile | UINT8 | | `tpa_rate` | Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate. | 0 | 100 | 0 | Rate Profile | UINT8 |
| `tpa_breakpoint` | See tpa_rate. | 1000 | 2000 | 1500 | Rate Profile | UINT16 | | `tpa_breakpoint` | See tpa_rate. | 1000 | 2000 | 1500 | Rate Profile | UINT16 |
| `failsafe_delay` | Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay). | 0 | 200 | 10 | Profile | UINT8 | | `failsafe_delay` | Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay). | 0 | 200 | 10 | Profile | UINT8 |

1
docs/Profiles.md
View file

@ -54,7 +54,6 @@ e.g
# rateprofile # rateprofile
rateprofile 0 rateprofile 0
set rc_rate = 90
set rc_expo = 65 set rc_expo = 65
set thr_mid = 50 set thr_mid = 50
set thr_expo = 0 set thr_expo = 0

2
src/main/blackbox/blackbox.c
View file

@ -1228,7 +1228,7 @@ static bool blackboxWriteSysinfo()
blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom); blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
break; break;
case 4: case 4:
blackboxPrintfHeaderLine("rcRate:%d", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8); blackboxPrintfHeaderLine("rcRate:%d", 100); //For compatibility reasons write rc_rate 100
break; break;
case 5: case 5:
blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle); blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);

6
src/main/common/maths.c
View file

@ -187,6 +187,12 @@ int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax) {
return ((a / b) - (destMax - destMin)) + destMax; return ((a / b) - (destMax - destMin)) + destMax;
} }
int scaleRangef(float x, float srcMin, float srcMax, float destMin, float destMax) {
float a = (destMax - destMin) * (x - srcMin);
float b = srcMax - srcMin;
return ((a / b) - (destMax - destMin)) + destMax;
}
// Normalize a vector // Normalize a vector
void normalizeV(struct fp_vector *src, struct fp_vector *dest) void normalizeV(struct fp_vector *src, struct fp_vector *dest)
{ {

1
src/main/common/maths.h
View file

@ -139,6 +139,7 @@ float devStandardDeviation(stdev_t *dev);
float degreesToRadians(int16_t degrees); float degreesToRadians(int16_t degrees);
int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax); int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax);
int scaleRangef(float x, float srcMin, float srcMax, float destMin, float destMax);
void normalizeV(struct fp_vector *src, struct fp_vector *dest); void normalizeV(struct fp_vector *src, struct fp_vector *dest);

17
src/main/config/config.c
View file

@ -353,7 +353,6 @@ void resetSerialConfig(serialConfig_t *serialConfig)
} }
static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) { static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->rcRate8 = 90;
controlRateConfig->rcExpo8 = 70; controlRateConfig->rcExpo8 = 70;
controlRateConfig->thrMid8 = 50; controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0; controlRateConfig->thrExpo8 = 0;
@ -362,7 +361,11 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
controlRateConfig->tpa_breakpoint = 1500; controlRateConfig->tpa_breakpoint = 1500;
for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) { for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
controlRateConfig->rates[axis] = 0; if (axis == FD_YAW) {
controlRateConfig->rates[axis] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT;
} else {
controlRateConfig->rates[axis] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
}
} }
} }
@ -624,10 +627,9 @@ static void resetConf(void)
currentProfile->pidProfile.P8[PITCH] = 36; currentProfile->pidProfile.P8[PITCH] = 36;
masterConfig.failsafeConfig.failsafe_delay = 2; masterConfig.failsafeConfig.failsafe_delay = 2;
masterConfig.failsafeConfig.failsafe_off_delay = 0; masterConfig.failsafeConfig.failsafe_off_delay = 0;
currentControlRateProfile->rcRate8 = 130; currentControlRateProfile->rates[FD_PITCH] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
currentControlRateProfile->rates[FD_PITCH] = 20; currentControlRateProfile->rates[FD_ROLL] = CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT;
currentControlRateProfile->rates[FD_ROLL] = 20; currentControlRateProfile->rates[FD_YAW] = CONTROL_RATE_CONFIG_YAW_RATE_DEFAULT;
currentControlRateProfile->rates[FD_YAW] = 100;
parseRcChannels("TAER1234", &masterConfig.rxConfig); parseRcChannels("TAER1234", &masterConfig.rxConfig);
// { 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R // { 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R
@ -728,8 +730,7 @@ static bool isEEPROMContentValid(void)
void activateControlRateConfig(void) void activateControlRateConfig(void)
{ {
generatePitchRollCurve(currentControlRateProfile); generateRcCurves(currentControlRateProfile);
generateYawCurve(currentControlRateProfile);
generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig); generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
} }

8
src/main/flight/pid.c
View file

@ -115,10 +115,14 @@ int16_t pidAngleToRcCommand(float angleDeciDegrees)
return angleDeciDegrees / 2.0f; return angleDeciDegrees / 2.0f;
} }
/*
Map stick positions to desired rotatrion rate in given axis.
Rotation rate in dps at full stick deflection is defined by axis rate measured in dps/10
Rate 20 means 200dps at full stick deflection
*/
float pidRcCommandToRate(int16_t stick, uint8_t rate) float pidRcCommandToRate(int16_t stick, uint8_t rate)
{ {
// Map stick position from 200dps to 1200dps return scaleRangef((float) stick, (float) -500, (float) 500, (float) -rate, (float) rate) * 10;
return (float)((rate + 20) * stick) / 50.0f;
} }
#define FP_PID_RATE_P_MULTIPLIER 40.0f // betaflight - 40.0 #define FP_PID_RATE_P_MULTIPLIER 40.0f // betaflight - 40.0

15
src/main/io/rc_controls.c
View file

@ -456,16 +456,10 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
beeperConfirmationBeeps(1); beeperConfirmationBeeps(1);
} }
switch(adjustmentFunction) { switch(adjustmentFunction) {
case ADJUSTMENT_RC_RATE:
newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcRate8 = newValue;
generatePitchRollCurve(controlRateConfig);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
break;
case ADJUSTMENT_RC_EXPO: case ADJUSTMENT_RC_EXPO:
newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
controlRateConfig->rcExpo8 = newValue; controlRateConfig->rcExpo8 = newValue;
generatePitchRollCurve(controlRateConfig); generateRcCurves(controlRateConfig);
blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue); blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
break; break;
case ADJUSTMENT_THROTTLE_EXPO: case ADJUSTMENT_THROTTLE_EXPO:
@ -476,7 +470,7 @@ 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 +478,12 @@ 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 +670,3 @@ void resetAdjustmentStates(void)
{ {
memset(adjustmentStates, 0, sizeof(adjustmentStates)); memset(adjustmentStates, 0, sizeof(adjustmentStates));
} }

19
src/main/io/rc_controls.h
View file

@ -108,11 +108,21 @@ typedef enum {
#define MIN_MODE_RANGE_STEP 0 #define MIN_MODE_RANGE_STEP 0
#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: /*
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 100 Max and min available values for rates are now stored as absolute
tenths of degrees-per-second [dsp/10]
That means, max. rotation rate 180 equals 1800dps
/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */ New defaults of 200dps for pitch,roll and yaw are more less
#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 255 equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
and so on.
*/
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 180
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN 6
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_DEFAULT 20
#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
@ -134,7 +144,6 @@ typedef struct modeActivationCondition_s {
#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep) #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
typedef struct controlRateConfig_s { typedef struct controlRateConfig_s {
uint8_t rcRate8;
uint8_t rcExpo8; uint8_t rcExpo8;
uint8_t thrMid8; uint8_t thrMid8;
uint8_t thrExpo8; uint8_t thrExpo8;

39
src/main/io/rc_curves.c
View file

@ -33,17 +33,21 @@ static int16_t lookupYawRC[YAW_LOOKUP_LENGTH]; // lookup table for
static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
int16_t lookupThrottleRCMid; // THROTTLE curve mid point int16_t lookupThrottleRCMid; // THROTTLE curve mid point
void generatePitchRollCurve(controlRateConfig_t *controlRateConfig) int16_t computeRcCurvePoint(uint8_t expo, uint8_t i)
{ {
for (int i = 0; i < PITCH_LOOKUP_LENGTH; i++) { return (2500 + expo * (i * i - 25)) * i / 25;
lookupPitchRollRC[i] = (2500 + controlRateConfig->rcExpo8 * (i * i - 25)) * i * (int32_t) controlRateConfig->rcRate8 / 2500;
}
} }
void generateYawCurve(controlRateConfig_t *controlRateConfig) void generateRcCurves(controlRateConfig_t *controlRateConfig)
{ {
for (int i = 0; i < YAW_LOOKUP_LENGTH; i++) { uint8_t i;
lookupYawRC[i] = (2500 + controlRateConfig->rcYawExpo8 * (i * i - 25)) * i / 25;
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++) {
lookupPitchRollRC[i] = computeRcCurvePoint(controlRateConfig->rcExpo8, i);
}
for (i = 0; i < YAW_LOOKUP_LENGTH; i++) {
lookupYawRC[i] = computeRcCurvePoint(controlRateConfig->rcYawExpo8, i);
} }
} }
@ -63,22 +67,25 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
} }
} }
int16_t rcLookupPitchRoll(int32_t tmp) int16_t rcLookupTable(int16_t lookupTable[], int32_t absoluteDeflection)
{ {
const int32_t tmp2 = tmp / 100; const int32_t lookupStep = absoluteDeflection / 100;
return lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100; return lookupTable[lookupStep] + (absoluteDeflection - lookupStep * 100) * (lookupTable[lookupStep + 1] - lookupTable[lookupStep]) / 100;
} }
int16_t rcLookupYaw(int32_t tmp) int16_t rcLookupPitchRoll(int32_t absoluteDeflection)
{ {
const int32_t tmp2 = tmp / 100; return rcLookupTable(lookupPitchRollRC, absoluteDeflection);
return (lookupYawRC[tmp2] + (tmp - tmp2 * 100) * (lookupYawRC[tmp2 + 1] - lookupYawRC[tmp2]) / 100);
} }
int16_t rcLookupThrottle(int32_t tmp) int16_t rcLookupYaw(int32_t absoluteDeflection)
{ {
const int32_t tmp2 = tmp / 100; return rcLookupTable(lookupYawRC, absoluteDeflection);
return lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; // [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE] }
int16_t rcLookupThrottle(int32_t absoluteDeflection)
{
return rcLookupTable(lookupThrottleRC, absoluteDeflection);
} }
int16_t rcLookupThrottleMid(void) int16_t rcLookupThrottleMid(void)

3
src/main/io/rc_curves.h
View file

@ -17,8 +17,7 @@
#pragma once #pragma once
void generatePitchRollCurve(controlRateConfig_t *controlRateConfig); void generateRcCurves(controlRateConfig_t *controlRateConfig);
void generateYawCurve(controlRateConfig_t *controlRateConfig);
void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig); void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig);
int16_t rcLookupPitchRoll(int32_t tmp); int16_t rcLookupPitchRoll(int32_t tmp);

13
src/main/io/serial_cli.c
View file

@ -677,14 +677,19 @@ const clivalue_t valueTable[] = {
#endif #endif
{ "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, 0 }, { "default_rate_profile", VAR_UINT8 | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, .config.minmax = { 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 }, 0 },
{ "rc_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, .config.minmax = { 0, 250 }, 0 },
{ "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0, 100 }, 0 }, { "rc_expo", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, .config.minmax = { 0, 100 }, 0 },
{ "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 },
{ "pitch_rate", VAR_UINT8 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], .config.minmax = { 0, 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 }, New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
Rate 180 (1800dps) is max. value gyro can measure reliably
*/
{ "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 = { 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 = { 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 },

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

@ -737,7 +737,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break; break;
case MSP_RC_TUNING: case MSP_RC_TUNING:
headSerialReply(11); headSerialReply(11);
serialize8(currentControlRateProfile->rcRate8); serialize8(100); //rcRate8 kept for compatibity reasons, this setting is no longer used
serialize8(currentControlRateProfile->rcExpo8); serialize8(currentControlRateProfile->rcExpo8);
for (i = 0 ; i < 3; i++) { for (i = 0 ; i < 3; i++) {
serialize8(currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t serialize8(currentControlRateProfile->rates[i]); // R,P,Y see flight_dynamics_index_t
@ -1220,11 +1220,11 @@ static bool processInCommand(void)
case MSP_SET_RC_TUNING: case MSP_SET_RC_TUNING:
if (currentPort->dataSize >= 10) { if (currentPort->dataSize >= 10) {
currentControlRateProfile->rcRate8 = read8(); read8(); //Read rcRate8, kept for protocol compatibility reasons
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);

62
src/main/mw.c
View file

@ -125,40 +125,46 @@ bool isCalibrating()
return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete()); return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
} }
void annexCode(void) int16_t getAxisRcCommand(int16_t rawData, int16_t (*loopupTable)(int32_t), int16_t deadband)
{ {
int32_t tmp; int16_t command, absoluteDeflection;
for (int axis = 0; axis < 3; axis++) { absoluteDeflection = MIN(ABS(rawData - masterConfig.rxConfig.midrc), 500);
tmp = MIN(ABS(rcData[axis] - masterConfig.rxConfig.midrc), 500);
if (axis == ROLL || axis == PITCH) {
if (currentProfile->rcControlsConfig.deadband) {
if (tmp > currentProfile->rcControlsConfig.deadband) {
tmp -= currentProfile->rcControlsConfig.deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupPitchRoll(tmp);
} else if (axis == YAW) {
if (currentProfile->rcControlsConfig.yaw_deadband) {
if (tmp > currentProfile->rcControlsConfig.yaw_deadband) {
tmp -= currentProfile->rcControlsConfig.yaw_deadband;
} else {
tmp = 0;
}
}
rcCommand[axis] = rcLookupYaw(tmp) * -1;
}
if (rcData[axis] < masterConfig.rxConfig.midrc) { if (deadband) {
rcCommand[axis] = -rcCommand[axis]; if (absoluteDeflection > deadband) {
absoluteDeflection -= deadband;
} else {
absoluteDeflection = 0;
} }
} }
tmp = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX); /*
tmp = (uint32_t)(tmp - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000] Get command from lookup table after applying deadband
rcCommand[THROTTLE] = rcLookupThrottle(tmp); */
command = loopupTable(absoluteDeflection);
if (rawData < masterConfig.rxConfig.midrc) {
command = -command;
}
return command;
}
void annexCode(void)
{
int32_t throttleValue;
// Compute ROLL PITCH and YAW command
rcCommand[ROLL] = getAxisRcCommand(rcData[ROLL], rcLookupPitchRoll, currentProfile->rcControlsConfig.deadband);
rcCommand[PITCH] = getAxisRcCommand(rcData[PITCH], rcLookupPitchRoll, currentProfile->rcControlsConfig.deadband);
rcCommand[YAW] = getAxisRcCommand(rcData[YAW], rcLookupYaw, currentProfile->rcControlsConfig.yaw_deadband);
//Compute THROTTLE command
throttleValue = constrain(rcData[THROTTLE], masterConfig.rxConfig.mincheck, PWM_RANGE_MAX);
throttleValue = (uint32_t)(throttleValue - masterConfig.rxConfig.mincheck) * PWM_RANGE_MIN / (PWM_RANGE_MAX - masterConfig.rxConfig.mincheck); // [MINCHECK;2000] -> [0;1000]
rcCommand[THROTTLE] = rcLookupThrottle(throttleValue);
if (FLIGHT_MODE(HEADFREE_MODE)) { if (FLIGHT_MODE(HEADFREE_MODE)) {
const float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold); const float radDiff = degreesToRadians(DECIDEGREES_TO_DEGREES(attitude.values.yaw) - headFreeModeHold);

13
src/test/unit/rc_controls_unittest.cc
View file

@ -186,7 +186,7 @@ static int callCounts[CALL_COUNT_ITEM_COUNT];
#define CALL_COUNTER(item) (callCounts[item]) #define CALL_COUNTER(item) (callCounts[item])
extern "C" { extern "C" {
void generatePitchRollCurve(controlRateConfig_t *) { void generateRcCurves(controlRateConfig_t *) {
callCounts[COUNTER_GENERATE_PITCH_ROLL_CURVE]++; callCounts[COUNTER_GENERATE_PITCH_ROLL_CURVE]++;
} }
@ -237,7 +237,6 @@ static const adjustmentConfig_t rateAdjustmentConfig = {
class RcControlsAdjustmentsTest : public ::testing::Test { class RcControlsAdjustmentsTest : public ::testing::Test {
protected: protected:
controlRateConfig_t controlRateConfig = { controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0, .rcExpo8 = 0,
.thrMid8 = 0, .thrMid8 = 0,
.thrExpo8 = 0, .thrExpo8 = 0,
@ -256,7 +255,6 @@ protected:
rxConfig.maxcheck = DEFAULT_MAX_CHECK; rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500; rxConfig.midrc = 1500;
controlRateConfig.rcRate8 = 90;
controlRateConfig.rcExpo8 = 0; controlRateConfig.rcExpo8 = 0;
controlRateConfig.thrMid8 = 0; controlRateConfig.thrMid8 = 0;
controlRateConfig.thrExpo8 = 0; controlRateConfig.thrExpo8 = 0;
@ -289,7 +287,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 90);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 0); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 0);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 0);
EXPECT_EQ(adjustmentStateMask, 0); EXPECT_EQ(adjustmentStateMask, 0);
@ -299,7 +296,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
{ {
// given // given
controlRateConfig_t controlRateConfig = { controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0, .rcExpo8 = 0,
.thrMid8 = 0, .thrMid8 = 0,
.thrExpo8 = 0, .thrExpo8 = 0,
@ -344,7 +340,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 1); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 1);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -360,7 +355,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when // when
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -382,7 +376,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
// when // when
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
EXPECT_EQ(controlRateConfig.rcRate8, 91);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -403,7 +396,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 2); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 2);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 2);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
@ -420,7 +412,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
// //
@ -434,7 +425,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 92);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
// //
@ -450,7 +440,6 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp
processRcAdjustments(&controlRateConfig, &rxConfig); processRcAdjustments(&controlRateConfig, &rxConfig);
// then // then
EXPECT_EQ(controlRateConfig.rcRate8, 93);
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3); EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3); EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask); EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);