Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Halved motor_output_limit for 3D modes.

Browse source
This commit is contained in:
mikeller 2019-01-30 00:05:41 +13:00
parent a3cf7e0cf7
commit 73d18ede66
2 changed files with 7 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

11
src/main/flight/mixer.c
View file

@ -381,23 +381,24 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT300: case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150: case PWM_TYPE_DSHOT150:
{ {
float outputLimitOffset = ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - motorOutputLimit)); float outputLimitOffset = (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - motorOutputLimit);
disarmMotorOutput = DSHOT_CMD_MOTOR_STOP; disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) { if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue); motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
motorOutputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset / 2;
deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset / 2;
} else { } else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue); motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
}
motorOutputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset; motorOutputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset;
deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue); }
deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset;
} }
break; break;
#endif #endif
default: default:
if (featureIsEnabled(FEATURE_3D)) { if (featureIsEnabled(FEATURE_3D)) {
float outputLimitOffset = ((flight3DConfig()->limit3d_high - flight3DConfig()->limit3d_low) * (1 - motorOutputLimit)); float outputLimitOffset = (flight3DConfig()->limit3d_high - flight3DConfig()->limit3d_low) * (1 - motorOutputLimit) / 2;
disarmMotorOutput = flight3DConfig()->neutral3d; disarmMotorOutput = flight3DConfig()->neutral3d;
motorOutputLow = flight3DConfig()->limit3d_low + outputLimitOffset; motorOutputLow = flight3DConfig()->limit3d_low + outputLimitOffset;
motorOutputHigh = flight3DConfig()->limit3d_high - outputLimitOffset; motorOutputHigh = flight3DConfig()->limit3d_high - outputLimitOffset;

2
src/main/flight/pid.c
View file

@ -191,6 +191,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dterm_cut_gain = 15, .dterm_cut_gain = 15,
.dterm_cut_range_hz = 40, .dterm_cut_range_hz = 40,
.dterm_cut_lowpass_hz = 7, .dterm_cut_lowpass_hz = 7,
.motor_output_limit = 100,
); );
#ifdef USE_DYN_LPF #ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150; pidProfile->dterm_lowpass_hz = 150;
@ -202,7 +203,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pid[PID_ROLL].D = 30; pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32; pidProfile->pid[PID_PITCH].D = 32;
#endif #endif
pidProfile->motor_output_limit = 100;
} }
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles) void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)