OP-1534 Add expo and acro insanity factor to TxPID

flight/modules/TxPID/txpid.c

@@ -83,6 +83,7 @@
 static void updatePIDs(UAVObjEvent *ev);
 static uint8_t update(float *var, float val);
 static uint8_t updateUint8(uint8_t *var, float val);
+static uint8_t updateInt8(int8_t *var, float val);
 static float scale(float val, float inMin, float inMax, float outMin, float outMax);
 
 /**
@@ -331,9 +332,24 @@ static void updatePIDs(UAVObjEvent *ev)
             case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
                 needsUpdateBank |= updateUint8(&bank.YawMax, value);
                 break;
+            case TXPIDSETTINGS_PIDS_ROLLEXPO:
+                needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
+                break;
+            case TXPIDSETTINGS_PIDS_PITCHEXPO:
+                needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
+                break;
+            case TXPIDSETTINGS_PIDS_ROLLPITCHEXPO:
+                needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
+                break;
+            case TXPIDSETTINGS_PIDS_YAWEXPO:
+                needsUpdateBank |= updateInt8(&bank.StickExpo.Yaw, value);
+                break;
             case TXPIDSETTINGS_PIDS_GYROTAU:
                 needsUpdateStab |= update(&stab.GyroTau, value);
                 break;
+            case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR:
+                needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
+                break;
             default:
                 PIOS_Assert(0);
             }
@@ -430,6 +446,21 @@ static uint8_t updateUint8(uint8_t *var, float val)
     return 0;
 }
 
+/**
+ * Updates var using val if needed.
+ * \returns 1 if updated, 0 otherwise
+ */
+static uint8_t updateInt8(int8_t *var, float val)
+{
+    int8_t roundedVal = (int8_t)roundf(val);
+
+    if (*var != roundedVal) {
+        *var = roundedVal;
+        return 1;
+    }
+    return 0;
+}
+
 /**
  * @}
  */

ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp

@@ -145,6 +145,25 @@ static bool isAttitudeOption(int pidOption)
     }
 }
 
+static bool isExpoOption(int pidOption)
+{
+    switch (pidOption) {
+    case TxPIDSettings::PIDS_ROLLEXPO:
+    case TxPIDSettings::PIDS_PITCHEXPO:
+    case TxPIDSettings::PIDS_ROLLPITCHEXPO:
+    case TxPIDSettings::PIDS_YAWEXPO:
+        return true;
+
+    default:
+        return false;
+    }
+}
+
+static bool isAcroPlusFactorOption(int pidOption)
+{
+    return pidOption == TxPIDSettings::PIDS_ACROPLUSFACTOR;
+}
+
 template <class StabilizationSettingsBankX>
 static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, int pidOption)
 {
@@ -260,6 +279,18 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
     case TxPIDSettings::PIDS_YAWATTITUDERESP:
         return bank->getYawMax();
 
+    case TxPIDSettings::PIDS_ROLLEXPO:
+        return bank->getStickExpo_Roll();
+
+    case TxPIDSettings::PIDS_PITCHEXPO:
+        return bank->getStickExpo_Pitch();
+
+    case TxPIDSettings::PIDS_ROLLPITCHEXPO:
+        return bank->getStickExpo_Roll();
+
+    case TxPIDSettings::PIDS_YAWEXPO:
+        return bank->getStickExpo_Yaw();
+
     case -1: // The PID Option field was uninitialized.
         return 0.0f;
 
@@ -337,6 +368,20 @@ void ConfigTxPIDWidget::updateSpinBoxProperties(int selectedPidOption)
         maxPID->setSingleStep(1);
         minPID->setDecimals(0);
         maxPID->setDecimals(0);
+    } else if (isExpoOption(selectedPidOption)) {
+        minPID->setRange(-100, 100);
+        maxPID->setRange(-100, 100);
+        minPID->setSingleStep(1);
+        maxPID->setSingleStep(1);
+        minPID->setDecimals(0);
+        maxPID->setDecimals(0);
+    } else if (isAcroPlusFactorOption(selectedPidOption)) {
+        minPID->setRange(0, 1);
+        maxPID->setRange(0, 1);
+        minPID->setSingleStep(0.01);
+        maxPID->setSingleStep(0.01);
+        minPID->setDecimals(2);
+        maxPID->setDecimals(2);
     } else {
         minPID->setRange(0, 99.99);
         maxPID->setRange(0, 99.99);

shared/uavobjectdefinition/txpidsettings.xml

@@ -19,7 +19,8 @@
 			Pitch Attitude.Kp, Pitch Attitude.Ki, Pitch Attitude.ILimit, Pitch Attitude.Resp,
 			Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp,
 			Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp,
-			GyroTau"
+			Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo,
+			GyroTau,AcroPlusFactor"
 		defaultvalue="Disabled"/>
         <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
         <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>