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

[thenickdude]

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.

[tricopterY]

The pid_tuning.html for class="rate-tpa", currently has max="2.55" for roll/pitch and yaw. These should be limited to max="1.0". It helps the user to appreciate the limits. Not sure if it's necessary to have extra insurance in firmware code.

[thenickdude]

I figure that the Configurator is not the only consumer of the MSP API so it would be better to cover our bases. I've added the limit to TPA as well now.

[hydra]

I was under the assumption that some people use > 1 rates. Can you ask/check on the rcgroups thread?

[tricopterY]

If you examine annexCode() in mw.c L#170, you do not expect to end up with -ve values for prop2, when you are calculating with a datum of 100 i.e rates are meant to be between 0 and 100%, which translates to limits of 0 to 1.0.
Note casting to (uint16_t) at L#204
prop1 = (uint16_t)prop1 * prop2 / 100;
We can end up with two's complement if prop2 is -ve, i.e something large.

[thenickdude]

Roll/pitch rates >1.0 end up applying a negative factor of the PID correction (i.e. it makes the craft actively unstable), nobody would be using those.

Yaw rate >1.0 does make sense but the CLI has always limited that to max 1.0 so I doubt many are using it. I'll ask on RCGroups.

[hydra]

It was RC rate that I was thinking of, couldn't remember last night.