Rate conversion for INAV 1.2

Ralf-W edited this page Oct 8, 2016 · 4 revisions

Rotation rates conversion

all config variables are scaled to CLI values, Configurators might use different scaling. If Configurator value is used, it is in square brackets []

Rotation rates in MultiWii/Baseflight/Cleanflight

MultiWii/Baseflight/Cleanflight uses arbitrary combination of rc_rate and axis rate to determine maximum rotation speed in degrees per second [dps]. By default, rc_rate is equal 90 [0,9] for ROLL and PITCH and 100 [1,0] for YAW. Mind that rc_rate for YAW is hardcoded and can not be changed!!

With default rc_rate values, old rates can be converted to maximum rotation speed at full stick deflection using following table:

To simplify, we assume that rc_rate is equal 100 to match ROLL, PITCH and YAW. RC Rate scaling is linear, so to compute rotation on rc_rate 90, divide by 100 and multiply by 90.

Rate Rate in Configurator Rotation speed [dps]
0 0,00 200dps
10 0,10 300dps
20 0,20 400dps
30 0,30 500dps
40 0,40 600dps
50 0,50 700dps

This can be computed using following equation:

rotation_in_dps = (rate + 20) * 10

Rotation rates in INAV 1.2

INAV 1.2 changes how rates (rotation speed at maximum stick deflection) is stored. Instead of arbitrary combination of rc_rate and axis rate, INAV stores rates as rate_in_dps / 10. Also rc_rate, as not needed, is removed.

Rate Rate in Configurator Rotation speed [dps]
0 0,00 invalid
9 0,09 90dps
10 0,10 100dps
20 0,20 200dps
40 0,40 400dps
50 0,50 500dps

Example: "set yaw_rate = 3" defines a rotation rate of 30dps on YAW axis that UAV will try to archive on max. stick deflection.
Latest INAV Configurator detects INAV 1.2 and allows to enter rates scaled to degrees per second

//TODO: explain how rates work in servo setups (airplanes mainly).

Conversion

Old Rate INAV 1.2 New Rate
0 20
10 30
20 40
30 50
40 60
50 70

new_rate = old_rate + 20

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