Apply the same maximum control rates (1.0) in CLI and MSP

Previously it was possible to set roll/pitch rate > 1.0 using MSP, but not using the CLI. Roll/pitch rate > 1.0 is meaningless. TPA is also limited to 1.0.
cleanflight · Mar 22, 2015 · 828ec55 · 828ec55
1 parent bcadd08
commit 828ec55
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Showing 4 changed files with 19 additions and 9 deletions.
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
@@ -407,18 +407,18 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
         case ADJUSTMENT_PITCH_ROLL_RATE:
         case ADJUSTMENT_PITCH_RATE:
             newValue = (int)controlRateConfig->rates[FD_PITCH] + delta;
-            controlRateConfig->rates[FD_PITCH] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rates[FD_PITCH] = constrain(newValue, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
             if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
                 break;
             }
             // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
         case ADJUSTMENT_ROLL_RATE:
             newValue = (int)controlRateConfig->rates[FD_ROLL] + delta;
-            controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
             break;
         case ADJUSTMENT_YAW_RATE:
             newValue = (int)controlRateConfig->rates[FD_YAW] + delta;
-            controlRateConfig->rates[FD_YAW] = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rates[FD_YAW] = constrain(newValue, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
             break;
         case ADJUSTMENT_PITCH_ROLL_P:
             if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {

diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
@@ -100,6 +100,16 @@ typedef enum {
 #define MIN_MODE_RANGE_STEP 0
 #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
+
+/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier,
+ * but we'll limit it to 1.0:
+ */
+#define CONTROL_RATE_CONFIG_YAW_RATE_MAX         100
+
+#define CONTROL_RATE_CONFIG_TPA_MAX              100
+
 // steps are 25 apart
 // a value of 0 corresponds to a channel value of 900 or less
 // a value of 48 corresponds to a channel value of 2100 or more

diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
@@ -397,10 +397,10 @@ const clivalue_t valueTable[] = {
     { "rc_expo",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },
     { "thr_mid",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrMid8, 0, 100 },
     { "thr_expo",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].thrExpo8, 0, 100 },
-    { "roll_rate",                  VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], 0, 100 },
-    { "pitch_rate",                 VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], 0, 100 },
-    { "yaw_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], 0, 100 },
-    { "tpa_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, 100},
+    { "roll_rate",                  VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_ROLL], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX },
+    { "pitch_rate",                 VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_PITCH], 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX },
+    { "yaw_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rates[FD_YAW], 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX },
+    { "tpa_rate",                   VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].dynThrPID, 0, CONTROL_RATE_CONFIG_TPA_MAX},
     { "tpa_breakpoint",             VAR_UINT16 | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].tpa_breakpoint, PWM_RANGE_MIN, PWM_RANGE_MAX},
 
     { "failsafe_delay",             VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_delay, 0, 200 },

diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
@@ -1331,9 +1331,9 @@ static bool processInCommand(void)
             currentControlRateProfile->rcRate8 = read8();
             currentControlRateProfile->rcExpo8 = read8();
             for (i = 0; i < 3; i++) {
-                currentControlRateProfile->rates[i] = read8();
+                currentControlRateProfile->rates[i] = MIN(read8(), i == FD_YAW ? CONTROL_RATE_CONFIG_YAW_RATE_MAX : CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
             }
-            currentControlRateProfile->dynThrPID = read8();
+            currentControlRateProfile->dynThrPID = MIN(read8(), CONTROL_RATE_CONFIG_TPA_MAX);
             currentControlRateProfile->thrMid8 = read8();
             currentControlRateProfile->thrExpo8 = read8();
             currentControlRateProfile->tpa_breakpoint = read16();