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Quick rates expo on rc command #10316

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merged 1 commit into from Oct 30, 2020
Merged

Quick rates expo on rc command #10316

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1 change: 1 addition & 0 deletions src/main/cli/settings.c
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Expand Up @@ -935,6 +935,7 @@ const clivalue_t valueTable[] = {
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrMid8) },
{ "thr_expo", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, thrExpo8) },
{ "rates_type", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_RATES_TYPE }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rates_type) },
{ "quickrates_rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, quickRatesRcExpo) },
{ "roll_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_ROLL]) },
{ "pitch_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_PITCH]) },
{ "yaw_rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, .config.minmaxUnsigned = { 1, CONTROL_RATE_CONFIG_RC_RATES_MAX }, PG_CONTROL_RATE_PROFILES, offsetof(controlRateConfig_t, rcRates[FD_YAW]) },
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3 changes: 2 additions & 1 deletion src/main/fc/controlrate_profile.c
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Expand Up @@ -37,7 +37,7 @@

controlRateConfig_t *currentControlRateProfile;

PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 2);
PG_REGISTER_ARRAY_WITH_RESET_FN(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles, PG_CONTROL_RATE_PROFILES, 3);

void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
{
Expand All @@ -64,6 +64,7 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *controlRateConfig)
.rate_limit[FD_YAW] = CONTROL_RATE_CONFIG_RATE_LIMIT_MAX,
.tpaMode = TPA_MODE_D,
.profileName = { 0 },
.quickRatesRcExpo = 0,
);
}
}
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1 change: 1 addition & 0 deletions src/main/fc/controlrate_profile.h
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Expand Up @@ -60,6 +60,7 @@ typedef struct controlRateConfig_s {
uint16_t rate_limit[3]; // Sets the maximum rate for the axes
uint8_t tpaMode; // Controls which PID terms TPA effects
char profileName[MAX_RATE_PROFILE_NAME_LENGTH + 1]; // Descriptive name for rate profile
uint8_t quickRatesRcExpo; // Sets expo on rc command for quick rates
} controlRateConfig_t;

PG_DECLARE_ARRAY(controlRateConfig_t, CONTROL_RATE_PROFILE_COUNT, controlRateProfiles);
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18 changes: 14 additions & 4 deletions src/main/fc/rc.c
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Expand Up @@ -210,12 +210,22 @@ float applyQuickRates(const int axis, float rcCommandf, const float rcCommandfAb
{
const uint16_t rcRate = currentControlRateProfile->rcRates[axis] * 2;
const uint16_t maxDPS = MAX(currentControlRateProfile->rates[axis] * 10, rcRate);
const float linearity = currentControlRateProfile->rcExpo[axis] / 100.0f;
const float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
const float superFactorConfig = ((float)maxDPS / rcRate - 1) / ((float)maxDPS / rcRate);

float curve = power3(rcCommandfAbs) * linearity + rcCommandfAbs * (1 - linearity);
float superfactor = 1.0f / (constrainf(1.0f - (curve * superFactorConfig), 0.01f, 1.00f));
float angleRate = constrainf(rcCommandf * rcRate * superfactor, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
float curve;
float superFactor;
float angleRate;

if (currentControlRateProfile->quickRatesRcExpo) {
curve = power3(rcCommandf) * expof + rcCommandf * (1 - expof);
superFactor = 1.0f / (constrainf(1.0f - (rcCommandfAbs * superFactorConfig), 0.01f, 1.00f));
angleRate = constrainf(curve * rcRate * superFactor, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
} else {
curve = power3(rcCommandfAbs) * expof + rcCommandfAbs * (1 - expof);
superFactor = 1.0f / (constrainf(1.0f - (curve * superFactorConfig), 0.01f, 1.00f));
angleRate = constrainf(rcCommandf * rcRate * superFactor, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
}

return angleRate;
}
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