Merge pull request #266 from readerror67/pitchroll

Separation of pitch-roll rates. Non-arduino way.
multiwii · Mar 31, 2015 · ffde4a3 · ffde4a3
2 parents 5ae178e + bedd2d5
commit ffde4a3
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Showing 5 changed files with 15 additions and 10 deletions.
diff --git a/src/cli.c b/src/cli.c
@@ -196,7 +196,8 @@ const clivalue_t valueTable[] = {
     { "rc_expo", VAR_UINT8, &cfg.rcExpo8, 0, 100 },
     { "thr_mid", VAR_UINT8, &cfg.thrMid8, 0, 100 },
     { "thr_expo", VAR_UINT8, &cfg.thrExpo8, 0, 100 },
-    { "roll_pitch_rate", VAR_UINT8, &cfg.rollPitchRate, 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 },
     { "tpa_rate", VAR_UINT8, &cfg.dynThrPID, 0, 100},
     { "tpa_breakpoint", VAR_UINT16, &cfg.tpa_breakpoint, 1000, 2000},

diff --git a/src/config.c b/src/config.c
@@ -24,7 +24,7 @@ master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
 const char rcChannelLetters[] = "AERT1234";
 
-static const uint8_t EEPROM_CONF_VERSION = 73;
+static const uint8_t EEPROM_CONF_VERSION = 74;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);
 static const uint32_t FLASH_WRITE_ADDR = 0x08000000 + (FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - (CONFIG_SIZE / 1024)));
@@ -285,7 +285,6 @@ static void resetConf(void)
     cfg.D8[PIDVEL] = 1;
     cfg.rcRate8 = 90;
     cfg.rcExpo8 = 65;
-    cfg.rollPitchRate = 0;
     cfg.yawRate = 0;
     cfg.dynThrPID = 0;
     cfg.tpa_breakpoint = 1500;

diff --git a/src/mw.c b/src/mw.c
@@ -133,7 +133,7 @@ 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 * tmp / 500;
+            prop1 = 100 - (uint16_t)cfg.rollPitchRate[axis] * tmp / 500;
             prop1 = (uint16_t)prop1 * prop2 / 100;
         } else {                // YAW
             if (cfg.yawdeadband) {
@@ -405,7 +405,8 @@ static void pidRewrite(void)
             // 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 + 27) * rcCommand[axis]) >> 4;
+                AngleRateTmp = ((int32_t)(cfg.rollPitchRate[axis] + 27) * rcCommand[axis]) >> 4;
+
                 if (f.HORIZON_MODE) {
                     // mix up angle error to desired AngleRateTmp to add a little auto-level feel
                     AngleRateTmp += (errorAngle * cfg.I8[PIDLEVEL]) >> 8;

diff --git a/src/mw.h b/src/mw.h
@@ -225,7 +225,7 @@ typedef struct config_t {
     uint8_t thrMid8;
     uint8_t thrExpo8;
 
-    uint8_t rollPitchRate;
+    uint8_t rollPitchRate[2];
     uint8_t yawRate;
 
     uint8_t dynThrPID;

diff --git a/src/serial.c b/src/serial.c
@@ -10,7 +10,7 @@
 #include "telemetry_common.h"
 
 // Multiwii Serial Protocol 0
-#define MSP_VERSION              2
+#define MSP_VERSION              3
 #define CAP_PLATFORM_32BIT          ((uint32_t)1 << 31)
 #define CAP_BASEFLIGHT_CONFIG       ((uint32_t)1 << 30)
 #define CAP_DYNBALANCE              ((uint32_t)1 << 2)
@@ -374,7 +374,7 @@ static void evaluateCommand(void)
         case MSP_SET_RC_TUNING:
             cfg.rcRate8 = read8();
             cfg.rcExpo8 = read8();
-            cfg.rollPitchRate = read8();
+            cfg.rollPitchRate[0] = cfg.rollPitchRate[1] = read8();
             cfg.yawRate = read8();
             cfg.dynThrPID = read8();
             cfg.thrMid8 = read8();
@@ -577,7 +577,7 @@ static void evaluateCommand(void)
             headSerialReply(7);
             serialize8(cfg.rcRate8);
             serialize8(cfg.rcExpo8);
-            serialize8(cfg.rollPitchRate);
+            serialize8(cfg.rollPitchRate[0]); // here for legacy support
             serialize8(cfg.yawRate);
             serialize8(cfg.dynThrPID);
             serialize8(cfg.thrMid8);
@@ -764,10 +764,12 @@ static void evaluateCommand(void)
             mcfg.currentscale = read16();
             mcfg.currentoffset = read16();
             mcfg.motor_pwm_rate = read16();
+            cfg.rollPitchRate[0] = read8();
+            cfg.rollPitchRate[1] = read8();
             /// ???
             break;
         case MSP_CONFIG:
-            headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2 + 2);
+            headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2 + 2 + 2);
             serialize8(mcfg.mixerConfiguration);
             serialize32(featureMask());
             serialize8(mcfg.serialrx_type);
@@ -777,6 +779,8 @@ static void evaluateCommand(void)
             serialize16(mcfg.currentscale);
             serialize16(mcfg.currentoffset);
             serialize16(mcfg.motor_pwm_rate);
+            serialize8(cfg.rollPitchRate[0]);
+            serialize8(cfg.rollPitchRate[1]);
             /// ???
             break;