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This commit is contained in:
tdogb 2023-02-10 00:08:12 -05:00
parent 4605309d82
commit 1fcb206c46
5 changed files with 330 additions and 164 deletions
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40
src/main/flight/mixer_init.c
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@ -50,7 +50,16 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.mixerMode = DEFAULT_MIXER,
.yaw_motors_reversed = false,
.crashflip_motor_percent = 0,
.crashflip_expo = 35,
.crashflip_expo = 0,
.govenor = true,
.govenor_p = 20,
.govenor_i = 15,
.govenor_d = 10,
.rpm_linearization = true,
.govenor_idle_rpm = 17,
.govenor_acceleration_limit = 60,
.govenor_deceleration_limit = 60,
.govenor_rpm_limit = 130,
.mixer_type = MIXER_LEGACY,
);
@ -310,6 +319,28 @@ void mixerInitProfile(void)
mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE; // Override value set by initEscEndpoints to allow zero motor drive
}
#endif
mixerRuntime.govenorExpectedThrottleLimit = 1.0f;
//Street League customization
mixerRuntime.govenorPGain = 20.0f * 0.0000015f;
mixerRuntime.govenorIGain = 15.0f * 0.0001f * pidGetDT();
mixerRuntime.govenorDGain = 10.0f * 0.00000003f * pidGetPidFrequency();
mixerRuntime.govenorAccelerationLimit = 60.0f * 1000.0f * pidGetDT();
mixerRuntime.govenorDecelerationLimit = 60.0f * 1000.0f * pidGetDT();
/*mixerRuntime.govenorPGain = mixerConfig()->govenor_p * 0.0000015f;
mixerRuntime.govenorIGain = mixerConfig()->govenor_i * 0.0001f * pidGetDT();
mixerRuntime.govenorDGain = mixerConfig()->govenor_d * 0.00000003f * pidGetPidFrequency();
mixerRuntime.govenorAccelerationLimit = mixerConfig()->govenor_acceleration_limit * 1000.0f * pidGetDT();
mixerRuntime.govenorDecelerationLimit = mixerConfig()->govenor_deceleration_limit * 1000.0f * pidGetDT();*/
mixerRuntime.govenorI = 0;
// mixerRuntime.govenorPrevThrottle = 0;
// mixerRuntime.govenorFFGain = 0.05f * (float)(mixerConfig()->govenor_ff) * 0.001f;
// mixerRuntime.govenorAverageAverageRPM = 0;
// mixerRuntime.govenorAverageStickThrottle = 0;
mixerRuntime.govenorPreviousSmoothedRPMError = 0;
// mixerRuntime.govenorIterationStep = 1.0f/(pidGetPidFrequency() * mixerConfig()->govenor_learning_threshold_window); // 3 is the averaging
mixerRuntime.govenorDelayK = 800 * pidGetDT() / 20.0f;
mixerRuntime.govenorLearningThrottleK = 0.5 / (pidGetPidFrequency() * mixerConfig()->govenorThrottleLimitLearningTimeMS / 1000); // 0.5 = value ^ (4000 * time) 0.99^(4000*(20/1000))
mixerRuntime.govenor_init = false;
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
mixerRuntime.vbatSagCompensationFactor = 0.0f;
@ -346,7 +377,7 @@ void loadLaunchControlMixer(void)
static void mixerConfigureOutput(void)
{
mixerRuntime.motorCount = 0;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
@ -410,6 +441,7 @@ void mixerInit(mixerMode_e mixerMode)
mixerRuntime.feature3dEnabled = featureIsEnabled(FEATURE_3D);
initEscEndpoints();
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
mixerTricopterInit();
@ -445,9 +477,11 @@ bool mixerModeIsFixedWing(mixerMode_e mixerMode)
case MIXER_AIRPLANE:
case MIXER_CUSTOM_AIRPLANE:
return true;
break;
default:
return false;
break;
}
}
@ -465,4 +499,4 @@ float getMotorOutputLow(void)
float getMotorOutputHigh(void)
{
return mixerRuntime.motorOutputHigh;
}
}