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Halved motor_output_limit for 3D modes.

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

@ -381,23 +381,24 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT300:
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;
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);
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 {
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;
#endif
default:
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;
motorOutputLow = flight3DConfig()->limit3d_low + 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_range_hz = 40,
.dterm_cut_lowpass_hz = 7,
.motor_output_limit = 100,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150;
@ -202,7 +203,6 @@ void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->pid[PID_ROLL].D = 30;
pidProfile->pid[PID_PITCH].D = 32;
#endif
pidProfile->motor_output_limit = 100;
}
void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)