Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 19:40:31 +03:00
Code Issues Wiki Activity

refactor motor idle, rename dshot_idle_value to motor_idle (#13936)

Browse source 
* use idleOffset, simplify idle : check PWM idle

* remove get for dshot idle and calculate it once only

* fixes from reviews, thanks

* use motor_idle for CLI name

* use motorConfig->motorIdle not idleOffset

* rename dshotmotorIdle variable to motorIdlePercent

* small comment improvement
This commit is contained in:
ctzsnooze 2024-10-09 03:31:08 +11:00 • committed by GitHub
parent 10d5963d24
commit 5ffeea6ab1
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
17 changed files with 29 additions and 66 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/blackbox/blackbox.c
View file

@ -1406,7 +1406,6 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("I interval", "%d", blackboxIInterval);
BLACKBOX_PRINT_HEADER_LINE("P interval", "%d", blackboxPInterval);
BLACKBOX_PRINT_HEADER_LINE("P ratio", "%d", (uint16_t)(blackboxIInterval / blackboxPInterval));
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro_scale","0x%x", castFloatBytesToInt(1.0f));
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", motorOutputLowInt, motorOutputHighInt);
@ -1632,7 +1631,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_USE_UNSYNCED_PWM, "%d", motorConfig()->dev.useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_PWM_PROTOCOL, "%d", motorConfig()->dev.motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_PWM_RATE, "%d", motorConfig()->dev.motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_IDLE_VALUE, "%d", motorConfig()->digitalIdleOffsetValue);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_IDLE, "%d", motorConfig()->motorIdle);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DEBUG_MODE, "%d", debugMode);
BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures);

5
src/main/cli/settings.c
View file

@ -857,12 +857,11 @@ const clivalue_t valueTable[] = {
#endif
// PG_MOTOR_CONFIG
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, minthrottle) },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, maxthrottle) },
{ "min_command", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_PULSE_MAX }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, mincommand) },
{ "motor_kv", VAR_UINT16 | HARDWARE_VALUE, .config.minmaxUnsigned = { 1, 40000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, kv) },
{ PARAM_NAME_MOTOR_IDLE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, motorIdle) },
#ifdef USE_DSHOT
{ PARAM_NAME_DSHOT_IDLE_VALUE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 2000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, digitalIdleOffsetValue) },
#ifdef USE_DSHOT_DMAR
{ "dshot_burst", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useBurstDshot) },
#endif
@ -874,7 +873,7 @@ const clivalue_t valueTable[] = {
{ "dshot_bitbang", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },
{ "dshot_bitbang_timer", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DSHOT_BITBANGED_TIMER }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbangedTimer) },
#endif
#endif
#endif // USE_DSHOT
{ PARAM_NAME_USE_UNSYNCED_PWM, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) },
{ PARAM_NAME_MOTOR_PWM_PROTOCOL, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmProtocol) },
{ PARAM_NAME_MOTOR_PWM_RATE, VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 200, 32000 }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.motorPwmRate) },

12
src/main/cms/cms_menu_misc.c
View file

@ -127,8 +127,7 @@ CMS_Menu cmsx_menuRcPreview = {
.entries = cmsx_menuRcEntries
};
static uint16_t motorConfig_minthrottle;
static uint8_t motorConfig_digitalIdleOffsetValue;
static uint8_t motorConfig_motorIdle;
static uint8_t rxConfig_fpvCamAngleDegrees;
static uint8_t mixerConfig_crashflip_rate;
@ -136,8 +135,7 @@ static const void *cmsx_menuMiscOnEnter(displayPort_t *pDisp)
{
UNUSED(pDisp);
motorConfig_minthrottle = motorConfig()->minthrottle;
motorConfig_digitalIdleOffsetValue = motorConfig()->digitalIdleOffsetValue / 10;
motorConfig_motorIdle = motorConfig()->motorIdle / 10;
rxConfig_fpvCamAngleDegrees = rxConfig()->fpvCamAngleDegrees;
mixerConfig_crashflip_rate = mixerConfig()->crashflip_rate;
@ -149,8 +147,7 @@ static const void *cmsx_menuMiscOnExit(displayPort_t *pDisp, const OSD_Entry *se
UNUSED(pDisp);
UNUSED(self);
motorConfigMutable()->minthrottle = motorConfig_minthrottle;
motorConfigMutable()->digitalIdleOffsetValue = 10 * motorConfig_digitalIdleOffsetValue;
motorConfigMutable()->motorIdle = 10 * motorConfig_motorIdle;
rxConfigMutable()->fpvCamAngleDegrees = rxConfig_fpvCamAngleDegrees;
mixerConfigMutable()->crashflip_rate = mixerConfig_crashflip_rate;
@ -161,8 +158,7 @@ static const OSD_Entry menuMiscEntries[]=
{
{ "-- MISC --", OME_Label, NULL, NULL },
{ "MIN THR", OME_UINT16 | REBOOT_REQUIRED, NULL, &(OSD_UINT16_t){ &motorConfig_minthrottle, 1000, 2000, 1 } },
{ "DIGITAL IDLE", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t) { &motorConfig_digitalIdleOffsetValue, 0, 200, 1 } },
{ "IDLE OFFSET", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t) { &motorConfig_motorIdle, 0, 200, 1 } },
{ "FPV CAM ANGLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &rxConfig_fpvCamAngleDegrees, 0, 90, 1 } },
{ "CRASHFLIP RATE", OME_UINT8 | REBOOT_REQUIRED, NULL, &(OSD_UINT8_t) { &mixerConfig_crashflip_rate, 0, 100, 1 } },
{ "RC PREV", OME_Submenu, cmsMenuChange, &cmsx_menuRcPreview},

5
src/main/config/config.c
View file

@ -149,11 +149,6 @@ uint8_t getCurrentControlRateProfileIndex(void)
return systemConfig()->activeRateProfile;
}
uint16_t getCurrentMinthrottle(void)
{
return motorConfig()->minthrottle;
}
void resetConfig(void)
{
pgResetAll();

2
src/main/config/config.h
View file

@ -83,8 +83,6 @@ void changeControlRateProfile(uint8_t profileIndex);
bool canSoftwareSerialBeUsed(void);
uint16_t getCurrentMinthrottle(void);
void resetConfig(void);
void targetConfiguration(void);
void targetValidateConfiguration(void);

7
src/main/drivers/dshot.c
View file

@ -58,14 +58,15 @@
void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow)
{
float outputLimitOffset = DSHOT_RANGE * (1 - outputLimit);
const float motorIdlePercent = CONVERT_PARAMETER_TO_PERCENT(motorConfig->motorIdle * 0.01f);
*disarm = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
*outputLow = DSHOT_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * (DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE);
*outputLow = DSHOT_MIN_THROTTLE + motorIdlePercent * (DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE);
*outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset / 2;
*deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * (DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE);
*deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + motorIdlePercent * (DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE);
*deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset / 2;
} else {
*outputLow = DSHOT_MIN_THROTTLE + getDigitalIdleOffset(motorConfig) * DSHOT_RANGE;
*outputLow = DSHOT_MIN_THROTTLE + motorIdlePercent * DSHOT_RANGE;
*outputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset;
}
}

10
src/main/drivers/motor.c
View file

@ -147,8 +147,9 @@ static void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLi
*deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
} else {
*disarm = motorConfig->mincommand;
*outputLow = motorConfig->minthrottle;
*outputHigh = motorConfig->maxthrottle - ((motorConfig->maxthrottle - motorConfig->minthrottle) * (1 - outputLimit));
const float minThrottle = motorConfig->mincommand + motorConfig->motorIdle * 0.1f;
*outputLow = minThrottle;
*outputHigh = motorConfig->maxthrottle - ((motorConfig->maxthrottle - minThrottle) * (1 - outputLimit));
}
}
@ -403,9 +404,4 @@ bool isDshotBitbangActive(const motorDevConfig_t *motorDevConfig)
#endif
}
#endif
float getDigitalIdleOffset(const motorConfig_t *motorConfig)
{
return CONVERT_PARAMETER_TO_PERCENT(motorConfig->digitalIdleOffsetValue * 0.01f);
}
#endif // USE_MOTOR

2
src/main/drivers/motor.h
View file

@ -105,5 +105,3 @@ struct motorDevConfig_s;
typedef struct motorDevConfig_s motorDevConfig_t;
bool isDshotBitbangActive(const motorDevConfig_t *motorConfig);
#endif
float getDigitalIdleOffset(const motorConfig_t *motorConfig);

2
src/main/fc/parameter_names.h
View file

@ -43,7 +43,7 @@
#define PARAM_NAME_RC_SMOOTHING_DEBUG_AXIS "rc_smoothing_debug_axis"
#define PARAM_NAME_RC_SMOOTHING_ACTIVE_CUTOFFS "rc_smoothing_active_cutoffs_ff_sp_thr"
#define PARAM_NAME_SERIAL_RX_PROVIDER "serialrx_provider"
#define PARAM_NAME_DSHOT_IDLE_VALUE "dshot_idle_value"
#define PARAM_NAME_MOTOR_IDLE "motor_idle"
#define PARAM_NAME_DSHOT_BIDIR "dshot_bidir"
#define PARAM_NAME_USE_UNSYNCED_PWM "use_unsynced_pwm"
#define PARAM_NAME_MOTOR_PWM_PROTOCOL "motor_pwm_protocol"

3
src/main/flight/mixer_init.c
View file

@ -348,7 +348,7 @@ void mixerInitProfile(void)
mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
// before takeoff, use the static idle value as the dynamic idle limit.
// whoop users should first adjust static idle to ensure reliable motor start before enabling dynamic idle
mixerRuntime.dynIdleStartIncrease = motorConfig()->digitalIdleOffsetValue * 0.0001f;
mixerRuntime.dynIdleStartIncrease = motorConfig()->motorIdle * 0.0001f;
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
@ -486,7 +486,6 @@ void mixerInit(mixerMode_e mixerMode)
#endif
#ifdef USE_DYN_IDLE
mixerRuntime.idleThrottleOffset = getDigitalIdleOffset(motorConfig());
mixerRuntime.dynIdleI = 0.0f;
mixerRuntime.prevMinRps = 0.0f;
#endif

1
src/main/flight/mixer_init.h
View file

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

8
src/main/msp/msp.c
View file

@ -1445,7 +1445,7 @@ case MSP_NAME:
break;
case MSP_MOTOR_CONFIG:
sbufWriteU16(dst, motorConfig()->minthrottle);
sbufWriteU16(dst, 0); // was minthrottle until after 4.5
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
@ -1857,7 +1857,7 @@ case MSP_NAME:
sbufWriteU8(dst, motorConfig()->dev.useUnsyncedPwm);
sbufWriteU8(dst, motorConfig()->dev.motorPwmProtocol);
sbufWriteU16(dst, motorConfig()->dev.motorPwmRate);
sbufWriteU16(dst, motorConfig()->digitalIdleOffsetValue);
sbufWriteU16(dst, motorConfig()->motorIdle);
sbufWriteU8(dst, 0); // DEPRECATED: gyro_use_32kHz
sbufWriteU8(dst, motorConfig()->dev.motorPwmInversion);
sbufWriteU8(dst, gyroConfig()->gyro_to_use);
@ -2837,7 +2837,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
break;
case MSP_SET_MOTOR_CONFIG:
motorConfigMutable()->minthrottle = sbufReadU16(src);
sbufReadU16(src); // minthrottle deprecated in 4.6
motorConfigMutable()->maxthrottle = sbufReadU16(src);
motorConfigMutable()->mincommand = sbufReadU16(src);
@ -3023,7 +3023,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
motorConfigMutable()->dev.motorPwmProtocol = sbufReadU8(src);
motorConfigMutable()->dev.motorPwmRate = sbufReadU16(src);
if (sbufBytesRemaining(src) >= 2) {
motorConfigMutable()->digitalIdleOffsetValue = sbufReadU16(src);
motorConfigMutable()->motorIdle = sbufReadU16(src);
}
if (sbufBytesRemaining(src)) {
sbufReadU8(src); // DEPRECATED: gyro_use_32khz

10
src/main/pg/motor.c
View file

@ -48,17 +48,15 @@
#define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF
#endif
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 2);
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 3);
void pgResetFn_motorConfig(motorConfig_t *motorConfig)
{
#ifdef BRUSHED_MOTORS
motorConfig->minthrottle = 1000;
motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfig->dev.useUnsyncedPwm = true;
#else
motorConfig->minthrottle = 1070;
motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
#ifndef USE_DSHOT
if (motorConfig->dev.motorPwmProtocol == PWM_TYPE_STANDARD) {
@ -74,7 +72,11 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
motorConfig->maxthrottle = 2000;
motorConfig->mincommand = 1000;
motorConfig->digitalIdleOffsetValue = 550;
#ifdef BRUSHED_MOTORS
motorConfig->motorIdle = 700; // historical default minThrottle for brushed was 1070
#else
motorConfig->motorIdle = 550;
#endif // BRUSHED_MOTORS
motorConfig->kv = 1960;
#ifdef USE_TIMER

3
src/main/pg/motor.h
View file

@ -59,8 +59,7 @@ typedef struct motorDevConfig_s {
typedef struct motorConfig_s {
motorDevConfig_t dev;
uint16_t digitalIdleOffsetValue; // Idle value for DShot protocol, full motor output = 10000
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
uint16_t motorIdle; // When motors are idling, the percentage of the motor range added above the disarmed value, in percent * 100.
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power. This value can be increased up to 2000
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t kv; // Motor velocity constant (Kv) to estimate RPM under no load (unloadedRpm = Kv * batteryVoltage)

6
src/test/unit/flight_failsafe_unittest.cc
View file

@ -51,7 +51,6 @@ extern "C" {
#include "gtest/gtest.h"
uint32_t testFeatureMask = 0;
uint16_t testMinThrottle = 0;
throttleStatus_e throttleStatus = THROTTLE_HIGH;
enum {
@ -755,11 +754,6 @@ void beeper(beeperMode_e mode)
UNUSED(mode);
}
uint16_t getCurrentMinthrottle(void)
{
return testMinThrottle;
}
bool isUsingSticksForArming(void)
{
return isUsingSticksToArm;

7
src/test/unit/motor_output_unittest.cc
View file

@ -32,7 +32,6 @@ extern "C" {
extern "C" {
bool featureIsEnabled(uint8_t f);
float getDigitalIdleOffset(const motorConfig_t *motorConfig);
float scaleRangef(float a, float b, float c, float d, float e);
// Mocking functions
@ -43,12 +42,6 @@ bool featureIsEnabled(uint8_t f)
return true;
}
float getDigitalIdleOffset(const motorConfig_t *motorConfig)
{
UNUSED(motorConfig);
return 0;
}
float scaleRangef(float a, float b, float c, float d, float e)
{
UNUSED(a);

5
src/test/unit/pg_unittest.cc
View file

@ -36,7 +36,6 @@ PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
.dev = {.motorPwmRate = 400},
.minthrottle = 1150,
.maxthrottle = 1850,
.mincommand = 1000,
);
@ -50,7 +49,6 @@ TEST(ParameterGroupsfTest, Test_pgResetAll)
{
memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
pgResetAll();
EXPECT_EQ(1150, motorConfig()->minthrottle);
EXPECT_EQ(1850, motorConfig()->maxthrottle);
EXPECT_EQ(1000, motorConfig()->mincommand);
EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
@ -61,7 +59,6 @@ TEST(ParameterGroupsfTest, Test_pgFind)
memset(motorConfigMutable(), 0, sizeof(motorConfig_t));
const pgRegistry_t *pgRegistry = pgFind(PG_MOTOR_CONFIG);
pgReset(pgRegistry);
EXPECT_EQ(1150, motorConfig()->minthrottle);
EXPECT_EQ(1850, motorConfig()->maxthrottle);
EXPECT_EQ(1000, motorConfig()->mincommand);
EXPECT_EQ(400, motorConfig()->dev.motorPwmRate);
@ -70,7 +67,6 @@ TEST(ParameterGroupsfTest, Test_pgFind)
memset(&motorConfig2, 0, sizeof(motorConfig_t));
motorConfigMutable()->dev.motorPwmRate = 500;
pgStore(pgRegistry, &motorConfig2, sizeof(motorConfig_t));
EXPECT_EQ(1150, motorConfig2.minthrottle);
EXPECT_EQ(1850, motorConfig2.maxthrottle);
EXPECT_EQ(1000, motorConfig2.mincommand);
EXPECT_EQ(500, motorConfig2.dev.motorPwmRate);
@ -78,7 +74,6 @@ TEST(ParameterGroupsfTest, Test_pgFind)
motorConfig_t motorConfig3;
memset(&motorConfig3, 0, sizeof(motorConfig_t));
pgResetCopy(&motorConfig3, PG_MOTOR_CONFIG);
EXPECT_EQ(1150, motorConfig3.minthrottle);
EXPECT_EQ(1850, motorConfig3.maxthrottle);
EXPECT_EQ(1000, motorConfig3.mincommand);
EXPECT_EQ(400, motorConfig3.dev.motorPwmRate);