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Allow yaw to have negative expo #11098

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4bf4670
Allow yaw to have negative expo
MrD-RC Oct 26, 2025
f572d14
Merge branch 'master' into MrD_Allow-yaw-to-have-negative-expo
MrD-RC Nov 2, 2025
4e6a032
Update rc_adjustments.c
MrD-RC Nov 2, 2025
80dec29
Update rc_adjustments.c
MrD-RC Nov 2, 2025
145603a
Update rc_curves.c
MrD-RC Nov 3, 2025
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4 changes: 2 additions & 2 deletions docs/Settings.md
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Expand Up @@ -2618,7 +2618,7 @@ Exponential value used for the YAW axis by the `MANUAL` flight mode [0-100]

| Default | Min | Max |
| --- | --- | --- |
| 20 | 0 | 100 |
| 20 | -100 | 100 |

---

Expand Down Expand Up @@ -5808,7 +5808,7 @@ Exponential value used for the YAW axis by all the stabilized flights modes (all

| Default | Min | Max |
| --- | --- | --- |
| 20 | 0 | 100 |
| 20 | -100 | 100 |

---

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5 changes: 5 additions & 0 deletions src/main/common/streambuf.c
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Expand Up @@ -32,6 +32,11 @@ void sbufWriteU8(sbuf_t *dst, uint8_t val)
*dst->ptr++ = val;
}

void sbufWriteI8(sbuf_t *dst, int8_t val)
{
*dst->ptr++ = val;
}

void sbufWriteU16(sbuf_t *dst, uint16_t val)
{
sbufWriteU8(dst, val >> 0);
Expand Down
1 change: 1 addition & 0 deletions src/main/common/streambuf.h
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Expand Up @@ -31,6 +31,7 @@ typedef struct sbuf_s {
sbuf_t *sbufInit(sbuf_t *sbuf, uint8_t *ptr, uint8_t *end);

void sbufWriteU8(sbuf_t *dst, uint8_t val);
void sbufWriteI8(sbuf_t *dst, int8_t val);
void sbufWriteU16(sbuf_t *dst, uint16_t val);
void sbufWriteU32(sbuf_t *dst, uint32_t val);
void sbufFill(sbuf_t *dst, uint8_t data, int len);
Expand Down
4 changes: 2 additions & 2 deletions src/main/fc/controlrate_profile_config_struct.h
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Expand Up @@ -36,13 +36,13 @@ typedef struct controlRateConfig_s {

struct {
uint8_t rcExpo8;
uint8_t rcYawExpo8;
int8_t rcYawExpo8;
uint8_t rates[3];
} stabilized;

struct {
uint8_t rcExpo8;
uint8_t rcYawExpo8;
int8_t rcYawExpo8;
uint8_t rates[3];
} manual;

Expand Down
4 changes: 2 additions & 2 deletions src/main/fc/fc_core.c
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Expand Up @@ -177,7 +177,7 @@ bool areSensorsCalibrating(void)
return false;
}

int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
int16_t getAxisRcCommand(int16_t rawData, int8_t expo, int16_t deadband)
{
int16_t stickDeflection = 0;

Expand All @@ -195,7 +195,7 @@ int16_t getAxisRcCommand(int16_t rawData, int16_t rate, int16_t deadband)
#endif

stickDeflection = applyDeadbandRescaled(stickDeflection, deadband, -500, 500);
return rcLookup(stickDeflection, rate);
return rcLookup(stickDeflection, expo);
}

static void updateArmingStatus(void)
Expand Down
12 changes: 6 additions & 6 deletions src/main/fc/fc_msp.c
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Expand Up @@ -700,7 +700,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, currentControlRateProfile->throttle.rcMid8);
sbufWriteU8(dst, currentControlRateProfile->throttle.rcExpo8);
sbufWriteU16(dst, currentControlRateProfile->throttle.pa_breakpoint);
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
sbufWriteI8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
break;

case MSP2_INAV_RATE_PROFILE:
Expand All @@ -712,14 +712,14 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF

// stabilized
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
sbufWriteI8(dst, currentControlRateProfile->stabilized.rcYawExpo8);
for (uint8_t i = 0 ; i < 3; ++i) {
sbufWriteU8(dst, currentControlRateProfile->stabilized.rates[i]); // R,P,Y see flight_dynamics_index_t
}

// manual
sbufWriteU8(dst, currentControlRateProfile->manual.rcExpo8);
sbufWriteU8(dst, currentControlRateProfile->manual.rcYawExpo8);
sbufWriteI8(dst, currentControlRateProfile->manual.rcYawExpo8);
for (uint8_t i = 0 ; i < 3; ++i) {
sbufWriteU8(dst, currentControlRateProfile->manual.rates[i]); // R,P,Y see flight_dynamics_index_t
}
Expand Down Expand Up @@ -2017,7 +2017,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
((controlRateConfig_t*)currentControlRateProfile)->throttle.rcExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->throttle.pa_breakpoint = sbufReadU16(src);
if (dataSize > 10) {
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = sbufReadU8(src);
((controlRateConfig_t*)currentControlRateProfile)->stabilized.rcYawExpo8 = sbufReadI8(src);
}

schedulePidGainsUpdate();
Expand All @@ -2038,7 +2038,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)

// stabilized
currentControlRateProfile_p->stabilized.rcExpo8 = sbufReadU8(src);
currentControlRateProfile_p->stabilized.rcYawExpo8 = sbufReadU8(src);
currentControlRateProfile_p->stabilized.rcYawExpo8 = sbufReadI8(src);
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
Expand All @@ -2050,7 +2050,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)

// manual
currentControlRateProfile_p->manual.rcExpo8 = sbufReadU8(src);
currentControlRateProfile_p->manual.rcYawExpo8 = sbufReadU8(src);
currentControlRateProfile_p->manual.rcYawExpo8 = sbufReadI8(src);
for (uint8_t i = 0; i < 3; ++i) {
tmp_u8 = sbufReadU8(src);
if (i == FD_YAW) {
Expand Down
24 changes: 17 additions & 7 deletions src/main/fc/rc_adjustments.c
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Expand Up @@ -351,16 +351,26 @@ static void applyAdjustmentU8(adjustmentFunction_e adjustmentFunction, uint8_t *
blackboxLogInflightAdjustmentEvent(adjustmentFunction, newValue);
}

static void applyAdjustmentI8(adjustmentFunction_e adjustmentFunction, int8_t *val, int delta, int low, int high)
{
int newValue = constrain((int)(*val) + delta, low, high);
*val = newValue;
blackboxLogInflightAdjustmentEvent(adjustmentFunction, newValue);
}

static void applyAdjustmentU16(adjustmentFunction_e adjustmentFunction, uint16_t *val, int delta, int low, int high)
{
int newValue = constrain((int)(*val) + delta, low, high);
*val = newValue;
blackboxLogInflightAdjustmentEvent(adjustmentFunction, newValue);
}

static void applyAdjustmentExpo(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta)
static void applyAdjustmentExpo(adjustmentFunction_e adjustmentFunction, int8_t *val, int delta, bool isYaw)
{
applyAdjustmentU8(adjustmentFunction, val, delta, SETTING_RC_EXPO_MIN, SETTING_RC_EXPO_MAX);
if (isYaw)
applyAdjustmentI8(adjustmentFunction, val, delta, SETTING_RC_YAW_EXPO_MIN, SETTING_RC_YAW_EXPO_MAX);
else
applyAdjustmentU8(adjustmentFunction, (uint8_t *)val, delta, SETTING_RC_EXPO_MIN, SETTING_RC_EXPO_MAX);
}

static void applyAdjustmentManualRate(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta)
Expand All @@ -382,19 +392,19 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
}
switch (adjustmentFunction) {
case ADJUSTMENT_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_EXPO, &controlRateConfig->stabilized.rcExpo8, delta);
applyAdjustmentExpo(ADJUSTMENT_RC_EXPO, (int8_t *)&controlRateConfig->stabilized.rcExpo8, delta, false);
break;
case ADJUSTMENT_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_RC_YAW_EXPO, &controlRateConfig->stabilized.rcYawExpo8, delta);
applyAdjustmentExpo(ADJUSTMENT_RC_YAW_EXPO, &controlRateConfig->stabilized.rcYawExpo8, delta, true);
break;
case ADJUSTMENT_MANUAL_RC_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_EXPO, &controlRateConfig->manual.rcExpo8, delta);
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_EXPO, (int8_t *)&controlRateConfig->manual.rcExpo8, delta, false);
break;
case ADJUSTMENT_MANUAL_RC_YAW_EXPO:
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_YAW_EXPO, &controlRateConfig->manual.rcYawExpo8, delta);
applyAdjustmentExpo(ADJUSTMENT_MANUAL_RC_YAW_EXPO, &controlRateConfig->manual.rcYawExpo8, delta, true);
break;
case ADJUSTMENT_THROTTLE_EXPO:
applyAdjustmentExpo(ADJUSTMENT_THROTTLE_EXPO, &controlRateConfig->throttle.rcExpo8, delta);
applyAdjustmentExpo(ADJUSTMENT_THROTTLE_EXPO, (int8_t *)&controlRateConfig->throttle.rcExpo8, delta, false);
break;
case ADJUSTMENT_PITCH_ROLL_RATE:
case ADJUSTMENT_PITCH_RATE:
Expand Down
8 changes: 5 additions & 3 deletions src/main/fc/rc_curves.c
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Expand Up @@ -53,10 +53,12 @@ void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
}
}

int16_t rcLookup(int32_t stickDeflection, uint8_t expo)
int16_t rcLookup(int32_t stickDeflection, int8_t expo)
{
float tmpf = stickDeflection / 100.0f;
return lrintf((2500.0f + (float)expo * (tmpf * tmpf - 25.0f)) * tmpf / 25.0f);
float stk = stickDeflection / 500.0f;
float expoAdjusted = constrainf(stk * (1.0f + ((float)expo /100.0f) * (stk * stk - 1.0f)), -1.0f, 1.0f);

return (int16_t)lrintf(expoAdjusted * 500.0f);
}

uint16_t rcLookupThrottle(uint16_t absoluteDeflection)
Expand Down
2 changes: 1 addition & 1 deletion src/main/fc/rc_curves.h
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Expand Up @@ -20,6 +20,6 @@
struct controlRateConfig_s;
void generateThrottleCurve(const struct controlRateConfig_s *controlRateConfig);

int16_t rcLookup(int32_t stickDeflection, uint8_t expo);
int16_t rcLookup(int32_t stickDeflection, int8_t expo);
uint16_t rcLookupThrottle(uint16_t tmp);
int16_t rcLookupThrottleMid(void);
4 changes: 2 additions & 2 deletions src/main/fc/settings.yaml
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Expand Up @@ -1391,7 +1391,7 @@ groups:
description: "Exponential value used for the YAW axis by all the stabilized flights modes (all but `MANUAL`)"
default_value: 20
field: stabilized.rcYawExpo8
min: 0
min: -100
max: 100
# New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
# Rate 180 (1800dps) is max. value gyro can measure reliably
Expand Down Expand Up @@ -1423,7 +1423,7 @@ groups:
description: "Exponential value used for the YAW axis by the `MANUAL` flight mode [0-100]"
default_value: 20
field: manual.rcYawExpo8
min: 0
min: -100
max: 100
- name: manual_roll_rate
description: "Servo travel multiplier for the ROLL axis in `MANUAL` flight mode [0-100]%"
Expand Down