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Added the dynamic idle throttle offset to the blackbox header to fix the motor output display.

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This commit is contained in:
Michael Keller 2020-10-27 02:01:26 +01:00
parent ae62f46958
commit 6c1cb60784
5 changed files with 15 additions and 6 deletions
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6
src/main/flight/mixer.c
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@ -65,8 +65,6 @@
#define DYN_LPF_THROTTLE_STEPS 100
#define DYN_LPF_THROTTLE_UPDATE_DELAY_US 5000 // minimum of 5ms between updates
#define RC_COMMAND_THROTTLE_RANGE (PWM_RANGE_MAX - PWM_RANGE_MIN)
static FAST_DATA_ZERO_INIT float motorMixRange;
float FAST_DATA_ZERO_INIT motor[MAX_SUPPORTED_MOTORS];
@ -227,7 +225,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
const float pidSum = constrainf(mixerRuntime.idleP * error, -currentPidProfile->idle_pid_limit, currentPidProfile->idle_pid_limit);
motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * pidGetDT(), 0.0f, maxIncrease);
mixerRuntime.oldMinRps = minRps;
throttle += mixerRuntime.idleThrottleOffset * RC_COMMAND_THROTTLE_RANGE;
throttle += mixerRuntime.idleThrottleOffset;
DEBUG_SET(DEBUG_DYN_IDLE, 0, motorRangeMinIncrease * 1000);
DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpsChangeRate);
@ -254,7 +252,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
motorRangeMax = mixerRuntime.motorOutputHigh;
#endif
currentThrottleInputRange = RC_COMMAND_THROTTLE_RANGE;
currentThrottleInputRange = PWM_RANGE;
motorRangeMin = mixerRuntime.motorOutputLow + motorRangeMinIncrease * (mixerRuntime.motorOutputHigh - mixerRuntime.motorOutputLow);
motorOutputMin = motorRangeMin;
motorOutputRange = motorRangeMax - motorRangeMin;