Use static idle value to set the initial dynamic idle limit before takeoff (#13906)

use static idle value in dynamic idle

src/main/blackbox/blackbox.c

@@ -1632,7 +1632,6 @@ 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

@@ -1258,7 +1258,6 @@ 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

@@ -127,7 +127,6 @@
 #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_init.c

@@ -337,7 +337,9 @@ 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;
+    // 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.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/pid.c

@@ -118,7 +118,7 @@ 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, 10);
+PG_REGISTER_ARRAY_WITH_RESET_FN(pidProfile_t, PID_PROFILE_COUNT, pidProfiles, PG_PID_PROFILE, 11);
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -198,7 +198,6 @@ 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

@@ -234,7 +234,6 @@ 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