Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 14:55:21 +03:00
Code Issues Wiki Activity

make it easier to switch between locked and unlocked

Browse source
This commit is contained in:
skyfpv 2023-03-14 01:47:55 -06:00
parent fc39593415
commit 6f070bbc88
1 changed files with 21 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

37
src/main/flight/mixer.c
View file

@ -346,10 +346,20 @@ static void applyFlipOverAfterCrashModeToMotors(void)
static void applyRPMLimiter(void) static void applyRPMLimiter(void)
{ {
//Street League customization //Street League spec settings
float forcedRPMLimit = 130.0f; float forcedRPMLimit = 130.0f;
//if (mixerConfig()->govenor && motorConfig()->dev.useDshotTelemetry) { bool forcedLinearization = true;
if (motorConfig()->dev.useDshotTelemetry) { int forcedMotorPoleCount = 14;
bool forceGovenor = true;
//Unlocked spec settings
//float forcedRPMLimit = mixerConfig()->govenor_rpm_limit;
//bool forcedLinearization = mixerConfig()->rpm_linearization;
//int forcedMotorPoleCount = motorConfig()->motorPoleCount;
//bool forceGovenor = mixerConfig()->govenor && motorConfig()->dev.useDshotTelemetry;
if (forceGovenor) {
float RPM_GOVENOR_LIMIT = 0; float RPM_GOVENOR_LIMIT = 0;
float averageRPM = 0; float averageRPM = 0;
float averageRPM_smoothed = 0; float averageRPM_smoothed = 0;
@ -357,11 +367,8 @@ static void applyRPMLimiter(void)
float rcCommandThrottle = (rcCommand[THROTTLE]-1000)/1000.0f; float rcCommandThrottle = (rcCommand[THROTTLE]-1000)/1000.0f;
//Street League customization //Street League customization
//if (mixerConfig()->rpm_linearization) { if (forcedLinearization) {
if (true) {
//scales rpm setpoint between idle rpm and rpm limit based on throttle percent //scales rpm setpoint between idle rpm and rpm limit based on throttle percent
//Street League customization
//RPM_GOVENOR_LIMIT = ((mixerConfig()->govenor_rpm_limit - mixerConfig()->govenor_idle_rpm))*100.0f*(rcCommandThrottle) + mixerConfig()->govenor_idle_rpm * 100.0f;
RPM_GOVENOR_LIMIT = ((forcedRPMLimit - mixerConfig()->govenor_idle_rpm))*100.0f*(rcCommandThrottle) + mixerConfig()->govenor_idle_rpm * 100.0f; RPM_GOVENOR_LIMIT = ((forcedRPMLimit - mixerConfig()->govenor_idle_rpm))*100.0f*(rcCommandThrottle) + mixerConfig()->govenor_idle_rpm * 100.0f;
//limit the speed with which the rpm setpoint can increase based on the rpm_limiter_acceleration_limit cli command //limit the speed with which the rpm setpoint can increase based on the rpm_limiter_acceleration_limit cli command
@ -377,8 +384,6 @@ static void applyRPMLimiter(void)
} }
else { else {
throttle = throttle * mixerRuntime.govenorExpectedThrottleLimit; throttle = throttle * mixerRuntime.govenorExpectedThrottleLimit;
//Street League customization
//RPM_GOVENOR_LIMIT = ((mixerConfig()->govenor_rpm_limit))*100.0f;
RPM_GOVENOR_LIMIT = ((forcedRPMLimit))*100.0f; RPM_GOVENOR_LIMIT = ((forcedRPMLimit))*100.0f;
} }
@ -390,7 +395,7 @@ static void applyRPMLimiter(void)
motorsSaturated = true; motorsSaturated = true;
} }
} }
averageRPM = 100 * averageRPM / (getMotorCount()*motorConfig()->motorPoleCount/2.0f); averageRPM = 100 * averageRPM / (getMotorCount()*forcedMotorPoleCount/2.0f);
//get the smoothed rpm to avoid d term noise //get the smoothed rpm to avoid d term noise
averageRPM_smoothed = mixerRuntime.govenorPreviousSmoothedRPM + mixerRuntime.govenorDelayK * (averageRPM - mixerRuntime.govenorPreviousSmoothedRPM); //kinda braindead to convert to rps then back averageRPM_smoothed = mixerRuntime.govenorPreviousSmoothedRPM + mixerRuntime.govenorDelayK * (averageRPM - mixerRuntime.govenorPreviousSmoothedRPM); //kinda braindead to convert to rps then back
@ -399,7 +404,7 @@ static void applyRPMLimiter(void)
float govenorP = smoothedRPMError * mixerRuntime.govenorPGain; //+ when overspped float govenorP = smoothedRPMError * mixerRuntime.govenorPGain; //+ when overspped
float govenorD = (smoothedRPMError-mixerRuntime.govenorPreviousSmoothedRPMError) * mixerRuntime.govenorDGain; // + when quickly going overspeed float govenorD = (smoothedRPMError-mixerRuntime.govenorPreviousSmoothedRPMError) * mixerRuntime.govenorDGain; // + when quickly going overspeed
if (mixerConfig()->rpm_linearization) { if (forcedLinearization) {
//don't let I term wind up if throttle is below the motor idle //don't let I term wind up if throttle is below the motor idle
if (rcCommandThrottle < motorConfig()->digitalIdleOffsetValue / 10000.0f) { if (rcCommandThrottle < motorConfig()->digitalIdleOffsetValue / 10000.0f) {
mixerRuntime.govenorI *= 1.0f/(1.0f+(pidGetDT()*10.0f)); //slowly ramp down i term instead of resetting to avoid throttle pulsing cheats mixerRuntime.govenorI *= 1.0f/(1.0f+(pidGetDT()*10.0f)); //slowly ramp down i term instead of resetting to avoid throttle pulsing cheats
@ -430,7 +435,7 @@ static void applyRPMLimiter(void)
} }
if (mixerRuntime.govenor_init) { if (mixerRuntime.govenor_init) {
if (mixerConfig()->rpm_linearization) { if (forcedLinearization) {
throttle = constrainf(-PIDOutput, 0.0f, 1.0f); throttle = constrainf(-PIDOutput, 0.0f, 1.0f);
} else { } else {
throttle = constrainf(throttle-PIDOutput, 0.0f, 1.0f); throttle = constrainf(throttle-PIDOutput, 0.0f, 1.0f);
@ -444,10 +449,10 @@ static void applyRPMLimiter(void)
mixerRuntime.govenorPreviousSmoothedRPMError = smoothedRPMError; mixerRuntime.govenorPreviousSmoothedRPMError = smoothedRPMError;
mixerRuntime.govenorPreviousRPMLimit = RPM_GOVENOR_LIMIT; mixerRuntime.govenorPreviousRPMLimit = RPM_GOVENOR_LIMIT;
// DEBUG_SET(DEBUG_RPM_LIMITER, 0, averageRPM); //DEBUG_SET(DEBUG_RPM_LIMITER, 0, averageRPM);
// DEBUG_SET(DEBUG_RPM_LIMITER, 1, smoothedRPMError); //DEBUG_SET(DEBUG_RPM_LIMITER, 1, smoothedRPMError);
// DEBUG_SET(DEBUG_RPM_LIMITER, 2, mixerRuntime.govenorI*100.0f); //DEBUG_SET(DEBUG_RPM_LIMITER, 2, mixerRuntime.govenorI*100.0f);
// DEBUG_SET(DEBUG_RPM_LIMITER, 3, govenorD*10000.0f); //DEBUG_SET(DEBUG_RPM_LIMITER, 3, govenorD*10000.0f);
} }
} }