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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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4
src/main/blackbox/blackbox.c
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@ -1474,6 +1474,10 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("vbat_sag_compensation", "%d", currentPidProfile->vbat_sag_compensation); BLACKBOX_PRINT_HEADER_LINE("vbat_sag_compensation", "%d", currentPidProfile->vbat_sag_compensation);
#endif #endif
#if defined(USE_DYN_IDLE)
BLACKBOX_PRINT_HEADER_LINE("dynamic_idle_offset", "%d", currentPidProfile->idle_min_rpm ? lrintf(getDynamicIdleOffset()) : 0);
#endif
default: default:
return true; return true;
} }

6
src/main/flight/mixer.c
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@ -65,8 +65,6 @@
#define DYN_LPF_THROTTLE_STEPS 100 #define DYN_LPF_THROTTLE_STEPS 100
#define DYN_LPF_THROTTLE_UPDATE_DELAY_US 5000 // minimum of 5ms between updates #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; static FAST_DATA_ZERO_INIT float motorMixRange;
float FAST_DATA_ZERO_INIT motor[MAX_SUPPORTED_MOTORS]; 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); const float pidSum = constrainf(mixerRuntime.idleP * error, -currentPidProfile->idle_pid_limit, currentPidProfile->idle_pid_limit);
motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * pidGetDT(), 0.0f, maxIncrease); motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * pidGetDT(), 0.0f, maxIncrease);
mixerRuntime.oldMinRps = minRps; 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, 0, motorRangeMinIncrease * 1000);
DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpsChangeRate); DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpsChangeRate);
@ -254,7 +252,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
motorRangeMax = mixerRuntime.motorOutputHigh; motorRangeMax = mixerRuntime.motorOutputHigh;
#endif #endif
currentThrottleInputRange = RC_COMMAND_THROTTLE_RANGE; currentThrottleInputRange = PWM_RANGE;
motorRangeMin = mixerRuntime.motorOutputLow + motorRangeMinIncrease * (mixerRuntime.motorOutputHigh - mixerRuntime.motorOutputLow); motorRangeMin = mixerRuntime.motorOutputLow + motorRangeMinIncrease * (mixerRuntime.motorOutputHigh - mixerRuntime.motorOutputLow);
motorOutputMin = motorRangeMin; motorOutputMin = motorRangeMin;
motorOutputRange = motorRangeMax - motorRangeMin; motorOutputRange = motorRangeMax - motorRangeMin;

1
src/main/flight/mixer.h
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@ -117,3 +117,4 @@ bool isFixedWing(void);
float getMotorOutputLow(void); float getMotorOutputLow(void);
float getMotorOutputHigh(void); float getMotorOutputHigh(void);
float getDynamicIdleOffset(void);

7
src/main/flight/mixer_init.c
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@ -396,6 +396,11 @@ static void mixerConfigureOutput(void)
} }
#endif // USE_QUAD_MIXER_ONLY #endif // USE_QUAD_MIXER_ONLY
float getDynamicIdleOffset(void)
{
return motorConfig()->digitalIdleOffsetValue * 0.0001f * PWM_RANGE;
}
void mixerInit(mixerMode_e mixerMode) void mixerInit(mixerMode_e mixerMode)
{ {
currentMixerMode = mixerMode; currentMixerMode = mixerMode;
@ -410,7 +415,7 @@ void mixerInit(mixerMode_e mixerMode)
#endif #endif
#ifdef USE_DYN_IDLE #ifdef USE_DYN_IDLE
mixerRuntime.idleThrottleOffset = motorConfig()->digitalIdleOffsetValue * 0.0001f; mixerRuntime.idleThrottleOffset = getDynamicIdleOffset();
#endif #endif
mixerConfigureOutput(); mixerConfigureOutput();

3
src/main/rx/rx.h
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@ -31,7 +31,8 @@
#define PWM_RANGE_MIN 1000 #define PWM_RANGE_MIN 1000
#define PWM_RANGE_MAX 2000 #define PWM_RANGE_MAX 2000
#define PWM_RANGE_MIDDLE (PWM_RANGE_MIN + ((PWM_RANGE_MAX - PWM_RANGE_MIN) / 2)) #define PWM_RANGE (PWM_RANGE_MAX - PWM_RANGE_MIN)
#define PWM_RANGE_MIDDLE (PWM_RANGE_MIN + (PWM_RANGE / 2))
#define PWM_PULSE_MIN 750 // minimum PWM pulse width which is considered valid #define PWM_PULSE_MIN 750 // minimum PWM pulse width which is considered valid
#define PWM_PULSE_MAX 2250 // maximum PWM pulse width which is considered valid #define PWM_PULSE_MAX 2250 // maximum PWM pulse width which is considered valid