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Switchable RC Rate/Expo and Pitch/Roll/Yaw Rates. #284

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Switchable RC Rate/Expo and Pitch/Roll/Yaw Rates. #284

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2b89b67
Switchable RC Rate/Expo and Pitch/Roll/Yaw Rates.
readerror67 Jul 4, 2015
1c8f1a2
Style?
readerror67 Jul 4, 2015
63df21f
Missed 2 things.
readerror67 Jul 4, 2015
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17 changes: 11 additions & 6 deletions src/cli.c
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Original file line number Diff line number Diff line change
Expand Up @@ -194,13 +194,18 @@ const clivalue_t valueTable[] = {
{ "alt_hold_fast_change", VAR_UINT8, &cfg.alt_hold_fast_change, 0, 1 },
{ "throttle_correction_value", VAR_UINT8, &cfg.throttle_correction_value, 0, 150 },
{ "throttle_correction_angle", VAR_UINT16, &cfg.throttle_correction_angle, 1, 900 },
{ "rc_rate", VAR_UINT8, &cfg.rcRate8, 0, 250 },
{ "rc_expo", VAR_UINT8, &cfg.rcExpo8, 0, 100 },
{ "rc_rate", VAR_UINT8, &cfg.rcRate8[ACRO_OFF], 0, 250 },
{ "rc_expo", VAR_UINT8, &cfg.rcExpo8[ACRO_OFF], 0, 100 },
{ "rc_rate_acro", VAR_UINT8, &cfg.rcRate8[ACRO_ON], 0, 250 },
{ "rc_expo_acro", VAR_UINT8, &cfg.rcExpo8[ACRO_ON], 0, 100 },
{ "thr_mid", VAR_UINT8, &cfg.thrMid8, 0, 100 },
{ "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 100 },
{ "roll_rate", VAR_UINT8, &cfg.rollPitchRate[0], 0, 100 },
{ "pitch_rate", VAR_UINT8, &cfg.rollPitchRate[1], 0, 100 },
{ "yaw_rate", VAR_UINT8, &cfg.yawRate, 0, 100 },
{ "roll_rate", VAR_UINT8, &cfg.rollPitchRate[ACRO_OFF][0], 0, 100 },
{ "pitch_rate", VAR_UINT8, &cfg.rollPitchRate[ACRO_OFF][1], 0, 100 },
{ "roll_rate_acro", VAR_UINT8, &cfg.rollPitchRate[ACRO_ON][0], 0, 100 },
{ "pitch_rate_acro", VAR_UINT8, &cfg.rollPitchRate[ACRO_ON][1], 0, 100 },
{ "yaw_rate", VAR_UINT8, &cfg.yawRate[ACRO_OFF], 0, 100 },
{ "yaw_rate_acro", VAR_UINT8, &cfg.yawRate[ACRO_ON], 0, 100 },
{ "tpa_rate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
{ "tpa_breakpoint", VAR_UINT16, &cfg.tpa_breakpoint, 1000, 2000},
{ "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
Expand Down Expand Up @@ -1046,7 +1051,7 @@ static void cliMixer(char *cmdline)
// Really Ugly Hack
if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING || mcfg.mixerConfiguration == MULTITYPE_AIRPLANE) {
cfg.dynThrPID = 50;
cfg.rcExpo8 = 0;
cfg.rcExpo8[acroState] = 0;
cfg.P8[PIDALT] = 30;
cfg.I8[PIDALT] = 20;
cfg.D8[PIDALT] = 45;
Expand Down
14 changes: 10 additions & 4 deletions src/config.c
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,10 @@ void activateConfig(void)
{
uint8_t i;
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t)cfg.rcRate8 / 2500;
lookupPitchRollRC[ACRO_OFF][i] = (2500 + cfg.rcExpo8[ACRO_OFF] * (i * i - 25)) * i * (int32_t)cfg.rcRate8[ACRO_OFF] / 2500;

for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[ACRO_ON][i] = (2500 + cfg.rcExpo8[ACRO_ON] * (i * i - 25)) * i * (int32_t)cfg.rcRate8[ACRO_ON] / 2500;

for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
Expand Down Expand Up @@ -283,9 +286,12 @@ static void resetConf(void)
cfg.P8[PIDVEL] = 120;
cfg.I8[PIDVEL] = 45;
cfg.D8[PIDVEL] = 1;
cfg.rcRate8 = 90;
cfg.rcExpo8 = 65;
cfg.yawRate = 0;
cfg.rcRate8[ACRO_OFF] = 90;
cfg.rcExpo8[ACRO_OFF] = 65;
cfg.yawRate[ACRO_OFF] = 0;
cfg.rcRate8[ACRO_ON] = 90;
cfg.rcExpo8[ACRO_ON] = 65;
cfg.yawRate[ACRO_ON] = 0;
cfg.dynThrPID = 0;
cfg.tpa_breakpoint = 1500;
cfg.thrMid8 = 50;
Expand Down
16 changes: 10 additions & 6 deletions src/mw.c
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ int16_t failsafeCnt = 0;
int16_t failsafeEvents = 0;
int16_t rcData[RC_CHANS]; // interval [1000;2000]
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupPitchRollRC[2][PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
uint16_t rssi; // range: [0;1023]
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
Expand All @@ -40,6 +40,8 @@ uint8_t rcOptions[CHECKBOXITEMS];

int16_t axisPID[3];

bool acroState;

// **********************
// GPS
// **********************
Expand Down Expand Up @@ -109,6 +111,8 @@ void annexCode(void)
static int64_t mAhdrawnRaw = 0;
static int32_t vbatCycleTime = 0;

// Set the state to avoid changing mid loop
acroState = rcOptions[BOXACROSWITCH];
// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value
if (rcData[THROTTLE] < cfg.tpa_breakpoint) {
prop2 = 100;
Expand All @@ -132,8 +136,8 @@ void annexCode(void)
}

tmp2 = tmp / 100;
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)cfg.rollPitchRate[axis] * tmp / 500;
rcCommand[axis] = lookupPitchRollRC[acroState][tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[acroState][tmp2 + 1] - lookupPitchRollRC[acroState][tmp2]) / 100;
prop1 = 100 - (uint16_t)cfg.rollPitchRate[acroState][axis] * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
} else { // YAW
if (cfg.yawdeadband) {
Expand All @@ -144,7 +148,7 @@ void annexCode(void)
}
}
rcCommand[axis] = tmp * -mcfg.yaw_control_direction;
prop1 = 100 - (uint16_t)cfg.yawRate * abs(tmp) / 500;
prop1 = 100 - (uint16_t)cfg.yawRate[acroState] * abs(tmp) / 500;
}
dynP8[axis] = (uint16_t)cfg.P8[axis] * prop1 / 100;
dynI8[axis] = (uint16_t)cfg.I8[axis] * prop1 / 100;
Expand Down Expand Up @@ -400,12 +404,12 @@ static void pidRewrite(void)
for (axis = 0; axis < 3; axis++) {
// -----Get the desired angle rate depending on flight mode
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[YAW]) >> 5);
AngleRateTmp = (((int32_t)(cfg.yawRate[acroState] + 27) * rcCommand[YAW]) >> 5);
} else {
// calculate error and limit the angle to 50 degrees max inclination
errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -500, +500) - angle[axis] + cfg.angleTrim[axis]) / 10.0f; // 16 bits is ok here
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t)(cfg.rollPitchRate[axis] + 27) * rcCommand[axis]) >> 4;
AngleRateTmp = ((int32_t)(cfg.rollPitchRate[acroState][axis] + 27) * rcCommand[axis]) >> 4;

if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRateTmp to add a little auto-level feel
Expand Down
15 changes: 10 additions & 5 deletions src/mw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,9 @@

#define RC_CHANS (18)

#define ACRO_OFF 0
#define ACRO_ON 1

// Serial GPS only variables
// navigation mode
typedef enum NavigationMode {
Expand Down Expand Up @@ -121,6 +124,7 @@ enum {
BOXSERVO1,
BOXSERVO2,
BOXSERVO3,
BOXACROSWITCH,
CHECKBOXITEMS
};

Expand Down Expand Up @@ -220,13 +224,13 @@ typedef struct config_t {
uint8_t I8[PIDITEMS];
uint8_t D8[PIDITEMS];

uint8_t rcRate8;
uint8_t rcExpo8;
uint8_t rcRate8[2];
uint8_t rcExpo8[2];
uint8_t thrMid8;
uint8_t thrExpo8;

uint8_t rollPitchRate[2];
uint8_t yawRate;
uint8_t rollPitchRate[2][2];
uint8_t yawRate[2];

uint8_t dynThrPID;
uint16_t tpa_breakpoint; // Breakpoint where TPA is activated
Expand Down Expand Up @@ -476,8 +480,9 @@ extern int32_t mAhdrawn; // milli ampere hours drawn from battery s

#define PITCH_LOOKUP_LENGTH 7
#define THROTTLE_LOOKUP_LENGTH 12
extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupPitchRollRC[2][PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
extern bool acroState;

// GPS stuff
extern int32_t GPS_coord[2];
Expand Down
38 changes: 25 additions & 13 deletions src/serial.c
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,7 @@ static const box_t boxes[] = {
{ BOXSERVO1, "SERVO1;", 21 },
{ BOXSERVO2, "SERVO2;", 22 },
{ BOXSERVO3, "SERVO3;", 23 },
{ BOXACROSWITCH, "ACROSWITCH;", 24 },
{ CHECKBOXITEMS, NULL, 0xFF }
};

Expand Down Expand Up @@ -323,7 +324,7 @@ void serialInit(uint32_t baudrate)
availableBoxes[idx++] = BOXSERVO2;
availableBoxes[idx++] = BOXSERVO3;
}

availableBoxes[idx++] = BOXACROSWITCH;
numberBoxItems = idx;
}

Expand Down Expand Up @@ -374,10 +375,10 @@ static void evaluateCommand(void)
headSerialReply(0);
break;
case MSP_SET_RC_TUNING:
cfg.rcRate8 = read8();
cfg.rcExpo8 = read8();
cfg.rcRate8[0] = read8();
cfg.rcExpo8[0] = read8();
read8(); // Legacy pitch-roll rate, read but not set.
cfg.yawRate = read8();
cfg.yawRate[ACRO_OFF] = read8();
cfg.dynThrPID = read8();
cfg.thrMid8 = read8();
cfg.thrExpo8 = read8();
Expand Down Expand Up @@ -456,6 +457,7 @@ static void evaluateCommand(void)
rcOptions[BOXSERVO1] << BOXSERVO1 |
rcOptions[BOXSERVO2] << BOXSERVO2 |
rcOptions[BOXSERVO3] << BOXSERVO3 |
rcOptions[BOXACROSWITCH] << BOXACROSWITCH |
f.ARMED << BOXARM;
for (i = 0; i < numberBoxItems; i++) {
int flag = (tmp & (1 << availableBoxes[i]));
Expand Down Expand Up @@ -621,10 +623,10 @@ static void evaluateCommand(void)
break;
case MSP_RC_TUNING:
headSerialReply(7);
serialize8(cfg.rcRate8);
serialize8(cfg.rcExpo8);
serialize8(cfg.rollPitchRate[0]); // here for legacy support
serialize8(cfg.yawRate);
serialize8(cfg.rcRate8[ACRO_OFF]);
serialize8(cfg.rcExpo8[ACRO_OFF]);
serialize8(cfg.rollPitchRate[ACRO_OFF][0]); // here for legacy support
serialize8(cfg.yawRate[ACRO_OFF]);
serialize8(cfg.dynThrPID);
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this doesnt even make sense

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This is so OSD and Android apps etc can still view and set the first profile.

serialize8(cfg.thrMid8);
serialize8(cfg.thrExpo8);
Expand Down Expand Up @@ -810,16 +812,21 @@ static void evaluateCommand(void)
mcfg.currentscale = read16();
mcfg.currentoffset = read16();
mcfg.motor_pwm_rate = read16();
cfg.rollPitchRate[0] = read8();
cfg.rollPitchRate[1] = read8();
cfg.rollPitchRate[ACRO_OFF][0] = read8();
cfg.rollPitchRate[ACRO_OFF][1] = read8();
cfg.rollPitchRate[ACRO_ON][0] = read8();
cfg.rollPitchRate[ACRO_ON][1] = read8();
cfg.yawRate[ACRO_ON] = read8();
cfg.rcExpo8[ACRO_ON] = read8();
cfg.rcRate8[ACRO_ON] = read8();
mcfg.power_adc_channel = read8();
cfg.small_angle = read8();
mcfg.looptime = read16();
cfg.locked_in = read8();
/// ???
break;
case MSP_CONFIG:
headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 1 + 1 + 2 + 1);
headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 + 1 + 1 + 1 + 1 + 1 + 2 + 1);
serialize8(mcfg.mixerConfiguration);
serialize32(featureMask());
serialize8(mcfg.serialrx_type);
Expand All @@ -829,8 +836,13 @@ static void evaluateCommand(void)
serialize16(mcfg.currentscale);
serialize16(mcfg.currentoffset);
serialize16(mcfg.motor_pwm_rate);
serialize8(cfg.rollPitchRate[0]);
serialize8(cfg.rollPitchRate[1]);
serialize8(cfg.rollPitchRate[ACRO_OFF][0]);
serialize8(cfg.rollPitchRate[ACRO_OFF][1]);
serialize8(cfg.rollPitchRate[ACRO_ON][0]);
serialize8(cfg.rollPitchRate[ACRO_ON][1]);
serialize8(cfg.yawRate[ACRO_ON]);
serialize8(cfg.rcExpo8[ACRO_ON]);
serialize8(cfg.rcRate8[ACRO_ON]);
serialize8(mcfg.power_adc_channel);
serialize8(cfg.small_angle);
serialize16(mcfg.looptime);
Expand Down