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Fix zero throttle deadband when using switched 3D modes

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When using switched 3D modes the throttle stick ranges from 0-100% controlling the motors in only one direction. The problem was that the 3D Throttle Deadband was being applied to the minimum throttle making a much larger throttle deadband from zero throttle.  So in the case of the default deadband of 50, the throttle stick movement would be equivalent to 100us of deadband (output is halved so requires double the input).  This would be like trying to fly with `min_check` set to 1100.

The fix uses `min_check` to set the deadband when in switched 3D modes. This produces the same throttle deadband as normal non-3D flight.
This commit is contained in:
Bruce Luckcuck 2018-09-18 19:54:53 -04:00
parent 27cbf0515d
commit 325ba33a3f
1 changed files with 19 additions and 9 deletions
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28
src/main/flight/mixer.c
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@ -320,9 +320,7 @@ const mixer_t mixers[] = {
FAST_RAM_ZERO_INIT float motorOutputHigh, motorOutputLow;
static FAST_RAM_ZERO_INIT float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
static FAST_RAM_ZERO_INIT uint16_t rcCommand3dDeadBandLow;
static FAST_RAM_ZERO_INIT uint16_t rcCommand3dDeadBandHigh;
static FAST_RAM_ZERO_INIT float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
static FAST_RAM_ZERO_INIT float rcCommandThrottleRange;
uint8_t getMotorCount(void)
{
@ -401,12 +399,6 @@ void initEscEndpoints(void)
}
rcCommandThrottleRange = PWM_RANGE_MAX - rxConfig()->mincheck;
rcCommand3dDeadBandLow = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
rcCommand3dDeadBandHigh = rxConfig()->midrc + flight3DConfig()->deadband3d_throttle;
rcCommandThrottleRange3dLow = rcCommand3dDeadBandLow - PWM_RANGE_MIN;
rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rcCommand3dDeadBandHigh;
}
void mixerInit(mixerMode_e mixerMode)
@ -528,10 +520,28 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
float currentThrottleInputRange = 0;
if (featureIsEnabled(FEATURE_3D)) {
uint16_t rcCommand3dDeadBandLow;
uint16_t rcCommand3dDeadBandHigh;
if (!ARMING_FLAG(ARMED)) {
rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
}
if (IS_RC_MODE_ACTIVE(BOX3D) || flight3DConfig()->switched_mode3d) {
// The min_check range is halved because the output throttle is scaled to 500us.
// So by using half of min_check we maintain the same low-throttle deadband
// stick travel as normal non-3D mode.
const int mincheckOffset = (rxConfig()->mincheck - PWM_RANGE_MIN) / 2;
rcCommand3dDeadBandLow = rxConfig()->midrc - mincheckOffset;
rcCommand3dDeadBandHigh = rxConfig()->midrc + mincheckOffset;
} else {
rcCommand3dDeadBandLow = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
rcCommand3dDeadBandHigh = rxConfig()->midrc + flight3DConfig()->deadband3d_throttle;
}
const float rcCommandThrottleRange3dLow = rcCommand3dDeadBandLow - PWM_RANGE_MIN;
const float rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rcCommand3dDeadBandHigh;
if (rcCommand[THROTTLE] <= rcCommand3dDeadBandLow) {
// INVERTED
motorRangeMin = motorOutputLow;