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Seperate rcCommand[Throttle] from D-Shot Motor Output

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This commit is contained in:
Gary Keeble 2016-12-14 14:29:56 +00:00
parent 40ec36f6c4
commit 70542eabd0
3 changed files with 18 additions and 5 deletions
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15
src/main/blackbox/blackbox.c
View file

@ -187,7 +187,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */ /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)}, {"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */ /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
{"motor", 1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)}, {"motor", 1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
{"motor", 2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)}, {"motor", 2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
@ -289,6 +289,9 @@ typedef struct blackboxSlowState_s {
bool rxFlightChannelsValid; bool rxFlightChannelsValid;
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp() } __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
//From mixer.c:
extern uint16_t motorOutputHigh, motorOutputLow;
//From rc_controls.c //From rc_controls.c
extern uint32_t rcModeActivationMask; extern uint32_t rcModeActivationMask;
@ -535,8 +538,8 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT); blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4); blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4);
//Motors can be below minthrottle when disarmed, but that doesn't happen much //Motors can be below minimum output when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle); blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others //Motors tend to be similar to each other so use the first motor's value as a predictor of the others
const int motorCount = getMotorCount(); const int motorCount = getMotorCount();
@ -1174,7 +1177,12 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom); BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", motorConfig()->minthrottle); BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", motorConfig()->maxthrottle); BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", motorConfig()->maxthrottle);
<<<<<<< HEAD
BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x", castFloatBytesToInt(1.0f)); BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x", castFloatBytesToInt(1.0f));
=======
BLACKBOX_PRINT_HEADER_LINE("motorOutput:%d,%d", motorOutputLow,motorOutputHigh);
BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x", castFloatBytesToInt(gyro.dev.scale));
>>>>>>> Seperate rcCommand[Throttle] from D-Shot Motor Output
BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc.dev.acc_1G); BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc.dev.acc_1G);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM( BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
@ -1280,6 +1288,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", motorConfig()->useUnsyncedPwm); BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", motorConfig()->useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", motorConfig()->motorPwmProtocol); BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", motorConfig()->motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", motorConfig()->motorPwmRate); BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", motorConfig()->motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset:%d", (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode); BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures); BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);

5
src/main/blackbox/blackbox_fielddefs.h
View file

@ -80,7 +80,10 @@ typedef enum FlightLogFieldPredictor {
FLIGHT_LOG_FIELD_PREDICTOR_VBATREF = 9, FLIGHT_LOG_FIELD_PREDICTOR_VBATREF = 9,
//Predict the last time value written in the main stream //Predict the last time value written in the main stream
FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10 FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10,
//Predict that this field is the minimum motor output
FLIGHT_LOG_FIELD_PREDICTOR_MINMOTOR = 11
} FlightLogFieldPredictor; } FlightLogFieldPredictor;

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

@ -236,7 +236,8 @@ const mixer_t mixers[] = {
static motorMixer_t *customMixers; static motorMixer_t *customMixers;
static uint16_t disarmMotorOutput, motorOutputHigh, motorOutputLow, deadbandMotor3dHigh, deadbandMotor3dLow; static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
uint16_t motorOutputHigh, motorOutputLow;
static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh; static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
uint8_t getMotorCount() uint8_t getMotorCount()