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Enforce limits from setting.yaml in RC adjustments and add the possib…
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…ility of defining constants in settings.yaml (#6878)
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@shellixyz
shellixyz authored Apr 24, 2021
1 parent 8c24f58 commit ab93221
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Showing 6 changed files with 126 additions and 121 deletions.
15 changes: 0 additions & 15 deletions src/main/fc/controlrate_profile.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,21 +22,6 @@
#include "config/parameter_group.h"

#define MAX_CONTROL_RATE_PROFILE_COUNT 3
/*
Max and min available values for rates are now stored as absolute
tenths of degrees-per-second [dsp/10]
That means, max. rotation rate 180 equals 1800dps
New defaults of 200dps for pitch,roll and yaw are more less
equivalent of rates 0 from previous versions of iNav, Cleanflight, Baseflight
and so on.
*/
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX 180
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN 6
#define CONTROL_RATE_CONFIG_YAW_RATE_MAX 180
#define CONTROL_RATE_CONFIG_YAW_RATE_MIN 2

#define CONTROL_RATE_CONFIG_TPA_MAX 100

typedef struct controlRateConfig_s {

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14 changes: 7 additions & 7 deletions src/main/fc/fc_msp.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1799,14 +1799,14 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (int i = 0; i < 3; i++) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
}
else {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}
tmp_u8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(tmp_u8, CONTROL_RATE_CONFIG_TPA_MAX);
((controlRateConfig_t*)currentControlRateProfile)->throttle.dynPID = MIN(tmp_u8, SETTING_TPA_RATE_MAX);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcMid8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = sbufReadU16(src);
Expand Down Expand Up @@ -1836,9 +1836,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
currentControlRateProfile_p->stabilized.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}

Expand All @@ -1848,9 +1848,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
} else {
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
currentControlRateProfile_p->manual.rates[i] = constrain(tmp_u8, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
}
}

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32 changes: 12 additions & 20 deletions src/main/fc/rc_adjustments.c
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
#include "fc/controlrate_profile.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_curves.h"
#include "fc/settings.h"

#include "navigation/navigation.h"

Expand All @@ -61,15 +62,6 @@ static uint8_t adjustmentStateMask = 0;

#define IS_ADJUSTMENT_FUNCTION_BUSY(adjustmentIndex) (adjustmentStateMask & (1 << adjustmentIndex))

#define RC_ADJUSTMENT_EXPO_MIN 0
#define RC_ADJUSTMENT_EXPO_MAX 100

#define RC_ADJUSTMENT_MANUAL_RATE_MIN 0
#define RC_ADJUSTMENT_MANUAL_RATE_MAX 100

#define RC_ADJUSTMENT_PID_MIN 0
#define RC_ADJUSTMENT_PID_MAX 200

// sync with adjustmentFunction_e
static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COUNT - 1] = {
{
Expand Down Expand Up @@ -368,17 +360,17 @@ static void applyAdjustmentU16(adjustmentFunction_e adjustmentFunction, uint16_t

static void applyAdjustmentExpo(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta)
{
applyAdjustmentU8(adjustmentFunction, val, delta, RC_ADJUSTMENT_EXPO_MIN, RC_ADJUSTMENT_EXPO_MAX);
applyAdjustmentU8(adjustmentFunction, val, delta, SETTING_RC_EXPO_MIN, SETTING_RC_EXPO_MAX);
}

static void applyAdjustmentManualRate(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta)
{
return applyAdjustmentU8(adjustmentFunction, val, delta, RC_ADJUSTMENT_MANUAL_RATE_MIN, RC_ADJUSTMENT_MANUAL_RATE_MAX);
return applyAdjustmentU8(adjustmentFunction, val, delta, SETTING_CONSTANT_MANUAL_RATE_MIN, SETTING_CONSTANT_MANUAL_RATE_MAX);
}

static void applyAdjustmentPID(adjustmentFunction_e adjustmentFunction, uint16_t *val, int delta)
{
applyAdjustmentU16(adjustmentFunction, val, delta, RC_ADJUSTMENT_PID_MIN, RC_ADJUSTMENT_PID_MAX);
applyAdjustmentU16(adjustmentFunction, val, delta, SETTING_CONSTANT_RPYL_PID_MIN, SETTING_CONSTANT_RPYL_PID_MAX);
}

static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
Expand Down Expand Up @@ -406,7 +398,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
applyAdjustmentU8(ADJUSTMENT_PITCH_RATE, &controlRateConfig->stabilized.rates[FD_PITCH], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
applyAdjustmentU8(ADJUSTMENT_PITCH_RATE, &controlRateConfig->stabilized.rates[FD_PITCH], delta, SETTING_PITCH_RATE_MIN, SETTING_PITCH_RATE_MAX);
if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
schedulePidGainsUpdate();
break;
Expand All @@ -415,7 +407,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
FALLTHROUGH;

case ADJUSTMENT_ROLL_RATE:
applyAdjustmentU8(ADJUSTMENT_ROLL_RATE, &controlRateConfig->stabilized.rates[FD_ROLL], delta, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MIN, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
applyAdjustmentU8(ADJUSTMENT_ROLL_RATE, &controlRateConfig->stabilized.rates[FD_ROLL], delta, SETTING_CONSTANT_ROLL_PITCH_RATE_MIN, SETTING_CONSTANT_ROLL_PITCH_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_PITCH_ROLL_RATE:
Expand All @@ -429,7 +421,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
applyAdjustmentManualRate(ADJUSTMENT_MANUAL_PITCH_RATE, &controlRateConfig->manual.rates[FD_PITCH], delta);
break;
case ADJUSTMENT_YAW_RATE:
applyAdjustmentU8(ADJUSTMENT_YAW_RATE, &controlRateConfig->stabilized.rates[FD_YAW], delta, CONTROL_RATE_CONFIG_YAW_RATE_MIN, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
applyAdjustmentU8(ADJUSTMENT_YAW_RATE, &controlRateConfig->stabilized.rates[FD_YAW], delta, SETTING_YAW_RATE_MIN, SETTING_YAW_RATE_MAX);
schedulePidGainsUpdate();
break;
case ADJUSTMENT_MANUAL_YAW_RATE:
Expand Down Expand Up @@ -508,10 +500,10 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
schedulePidGainsUpdate();
break;
case ADJUSTMENT_NAV_FW_CRUISE_THR:
applyAdjustmentU16(ADJUSTMENT_NAV_FW_CRUISE_THR, &navConfigMutable()->fw.cruise_throttle, delta, 1000, 2000);
applyAdjustmentU16(ADJUSTMENT_NAV_FW_CRUISE_THR, &navConfigMutable()->fw.cruise_throttle, delta, SETTING_NAV_FW_CRUISE_THR_MIN, SETTING_NAV_FW_CRUISE_THR_MAX);
break;
case ADJUSTMENT_NAV_FW_PITCH2THR:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_PITCH2THR, &navConfigMutable()->fw.pitch_to_throttle, delta, 0, 100);
applyAdjustmentU8(ADJUSTMENT_NAV_FW_PITCH2THR, &navConfigMutable()->fw.pitch_to_throttle, delta, SETTING_NAV_FW_PITCH2THR_MIN, SETTING_NAV_FW_PITCH2THR_MAX);
break;
case ADJUSTMENT_ROLL_BOARD_ALIGNMENT:
updateBoardAlignment(delta, 0);
Expand Down Expand Up @@ -586,7 +578,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
navigationUsePIDs();
break;
case ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE:
applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &mixerConfigMutable()->fwMinThrottleDownPitchAngle, delta, 0, FW_MIN_THROTTLE_DOWN_PITCH_ANGLE_MAX);
applyAdjustmentU16(ADJUSTMENT_FW_MIN_THROTTLE_DOWN_PITCH_ANGLE, &mixerConfigMutable()->fwMinThrottleDownPitchAngle, delta, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MIN, SETTING_FW_MIN_THROTTLE_DOWN_PITCH_MAX);
break;
#if defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
case ADJUSTMENT_VTX_POWER_LEVEL:
Expand All @@ -599,13 +591,13 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
break;
#endif
case ADJUSTMENT_TPA:
applyAdjustmentU8(ADJUSTMENT_TPA, &controlRateConfig->throttle.dynPID, delta, 0, CONTROL_RATE_CONFIG_TPA_MAX);
applyAdjustmentU8(ADJUSTMENT_TPA, &controlRateConfig->throttle.dynPID, delta, 0, SETTING_TPA_RATE_MAX);
break;
case ADJUSTMENT_TPA_BREAKPOINT:
applyAdjustmentU16(ADJUSTMENT_TPA_BREAKPOINT, &controlRateConfig->throttle.pa_breakpoint, delta, PWM_RANGE_MIN, PWM_RANGE_MAX);
break;
case ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS:
applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, 0, 9);
applyAdjustmentU8(ADJUSTMENT_NAV_FW_CONTROL_SMOOTHNESS, &navConfigMutable()->fw.control_smoothness, delta, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MIN, SETTING_NAV_FW_CONTROL_SMOOTHNESS_MAX);
break;
default:
break;
Expand Down
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