Make dyn idle startup increase configurable (#12432)

* Make dyn idle startup increase configurable

Replace fixed 5 percent max increase from dynamic idle
when airmode is active with a configurable value.

-Default value is still 5.0 percent (50 in cli)
-Add dyn_idle_start_increase cli setting
-Add dyn_idle_start_increase BB header field

* Increse PG reset to ver 6 for pidProfile

* Indentation

---------

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

src/main/blackbox/blackbox.c

@@ -1494,6 +1494,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_I_GAIN, "%d",         currentPidProfile->dyn_idle_i_gain);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_D_GAIN, "%d",         currentPidProfile->dyn_idle_d_gain);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_MAX_INCREASE, "%d",   currentPidProfile->dyn_idle_max_increase);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_IDLE_START_INCREASE, "%d", currentPidProfile->dyn_idle_start_increase);
 #endif
 
 #ifdef USE_SIMPLIFIED_TUNING

src/main/cli/settings.c

@@ -1194,6 +1194,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_DYN_IDLE_I_GAIN,            VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_idle_i_gain) },
     { PARAM_NAME_DYN_IDLE_D_GAIN,            VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_idle_d_gain) },
     { PARAM_NAME_DYN_IDLE_MAX_INCREASE,      VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_idle_max_increase) },
+    { PARAM_NAME_DYN_IDLE_START_INCREASE,    VAR_UINT8 | PROFILE_VALUE, .config.minmaxUnsigned = { 10, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, dyn_idle_start_increase) },
 #endif
     { "level_race_mode",            VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, level_race_mode) },
 

src/main/fc/parameter_names.h

@@ -100,6 +100,7 @@
 #define PARAM_NAME_DYN_IDLE_I_GAIN "dyn_idle_i_gain"
 #define PARAM_NAME_DYN_IDLE_D_GAIN "dyn_idle_d_gain"
 #define PARAM_NAME_DYN_IDLE_MAX_INCREASE "dyn_idle_max_increase"
+#define PARAM_NAME_DYN_IDLE_START_INCREASE "dyn_idle_start_increase"
 #define PARAM_NAME_SIMPLIFIED_PIDS_MODE "simplified_pids_mode"
 #define PARAM_NAME_SIMPLIFIED_MASTER_MULTIPLIER "simplified_master_multiplier"
 #define PARAM_NAME_SIMPLIFIED_I_GAIN "simplified_i_gain"

src/main/flight/mixer.c

@@ -221,7 +221,8 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
 
 #ifdef USE_DYN_IDLE
         if (mixerRuntime.dynIdleMinRps > 0.0f) {
-            const float maxIncrease = isAirmodeActivated() ? mixerRuntime.dynIdleMaxIncrease : 0.05f;
+            const float maxIncrease = isAirmodeActivated()
+                ? mixerRuntime.dynIdleMaxIncrease : mixerRuntime.dynIdleStartIncrease;
             float minRps = getMinMotorFrequency();
             DEBUG_SET(DEBUG_DYN_IDLE, 3, lrintf(minRps * 10.0f));
             float rpsError = mixerRuntime.dynIdleMinRps - minRps;

src/main/flight/mixer_init.c

@@ -318,6 +318,7 @@ void mixerInitProfile(void)
     mixerRuntime.dynIdleIGain = currentPidProfile->dyn_idle_i_gain * 0.01f * pidGetDT();
     mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency();
     mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
+    mixerRuntime.dynIdleStartIncrease = currentPidProfile->dyn_idle_start_increase * 0.001f;
     mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors
     if (!mixerRuntime.feature3dEnabled && mixerRuntime.dynIdleMinRps) {
         mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE; // Override value set by initEscEndpoints to allow zero motor drive

src/main/flight/mixer_init.h

@@ -39,6 +39,7 @@ typedef struct mixerRuntime_s {
     float deadbandMotor3dLow;
 #ifdef USE_DYN_IDLE
     float dynIdleMaxIncrease;
+    float dynIdleStartIncrease;
     float idleThrottleOffset;
     float dynIdleMinRps;
     float dynIdlePGain;

src/main/flight/pid.c

@@ -119,7 +119,7 @@ PG_RESET_TEMPLATE(pidConfig_t, pidConfig,
 
 #define LAUNCH_CONTROL_YAW_ITERM_LIMIT 50 // yaw iterm windup limit when launch mode is "FULL" (all axes)
 
-PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 5);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 6);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -199,6 +199,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .dyn_idle_i_gain = 50,
         .dyn_idle_d_gain = 50,
         .dyn_idle_max_increase = 150,
+        .dyn_idle_start_increase = 50,
         .feedforward_averaging = FEEDFORWARD_AVERAGING_OFF,
         .feedforward_max_rate_limit = 90,
         .feedforward_smooth_factor = 25,

src/main/flight/pid.h

@@ -204,6 +204,7 @@ typedef struct pidProfile_s {
     uint8_t dyn_idle_i_gain;                // I gain during active control of rpm
     uint8_t dyn_idle_d_gain;                // D gain for corrections around rapid changes in rpm
     uint8_t dyn_idle_max_increase;          // limit on maximum possible increase in motor idle drive during active control
+    uint8_t dyn_idle_start_increase;        // limit on maximum possible increase in motor idle drive with airmode not activated
 
     uint8_t feedforward_transition;         // Feedforward attenuation around centre sticks
     uint8_t feedforward_averaging;          // Number of packets to average when averaging is on