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Guard against too fast looptimes unsupported by motor pwm type

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This commit is contained in:
borisbstyle 2017-01-03 16:28:58 +01:00
parent 6e7d6c03c4
commit 0d8d085cfe
2 changed files with 39 additions and 1 deletions
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38
src/main/fc/config.c
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@ -18,6 +18,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
@ -1040,9 +1041,46 @@ void validateAndFixGyroConfig(void)
gyroConfig()->gyro_soft_notch_hz_2 = 0;
}
float samplingTime = 0.000125f;
if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
gyroConfig()->gyro_sync_denom = 1;
samplingTime = 0.001f;
}
// check for looptime restrictions based on motor protocol. Motor times have safety margin
const float pidLooptime = samplingTime * gyroConfig()->gyro_sync_denom * pidConfig()->pid_process_denom;
float motorUpdateRestriction;
switch(motorConfig()->motorPwmProtocol) {
case (PWM_TYPE_STANDARD):
motorUpdateRestriction = 0.002f;
break;
case (PWM_TYPE_ONESHOT125):
motorUpdateRestriction = 0.0005f;
break;
case (PWM_TYPE_ONESHOT42):
motorUpdateRestriction = 0.0001f;
break;
case (PWM_TYPE_DSHOT150):
motorUpdateRestriction = 0.000125f;
break;
case (PWM_TYPE_DSHOT300):
motorUpdateRestriction = 0.0000625f;
break;
default:
motorUpdateRestriction = 0.00003125f;
}
if(pidLooptime < motorUpdateRestriction)
pidConfig()->pid_process_denom = motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom);
// Prevent overriding the max rate of motors
if(motorConfig()->useUnsyncedPwm) {
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
if(motorConfig()->motorPwmRate > maxEscRate)
motorConfig()->motorPwmRate = maxEscRate;
}
}