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Fixed motorOutputLimitLow in blackbox and OSD.

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This commit is contained in:
mikeller 2020-08-17 23:19:58 +12:00
parent 2bec8fa33d
commit 7836bc220c
7 changed files with 38 additions and 19 deletions
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29
src/main/flight/mixer.c
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@ -284,7 +284,9 @@ const mixer_t mixers[] = {
};
#endif // !USE_QUAD_MIXER_ONLY
FAST_DATA_ZERO_INIT float motorOutputHigh, motorOutputLow;
static FAST_DATA_ZERO_INIT bool feature3dEnabled;
static FAST_DATA_ZERO_INIT float motorOutputLow;
static FAST_DATA_ZERO_INIT float motorOutputHigh;
static FAST_DATA_ZERO_INIT float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
static FAST_DATA_ZERO_INIT float rcCommandThrottleRange;
@ -346,6 +348,9 @@ void initEscEndpoints(void)
}
motorInitEndpoints(motorConfig(), motorOutputLimit, &motorOutputLow, &motorOutputHigh, &disarmMotorOutput, &deadbandMotor3dHigh, &deadbandMotor3dLow);
if (!feature3dEnabled && currentPidProfile->idle_min_rpm) {
motorOutputLow = DSHOT_MIN_THROTTLE;
}
rcCommandThrottleRange = PWM_RANGE_MAX - PWM_RANGE_MIN;
}
@ -377,6 +382,8 @@ void mixerInit(mixerMode_e mixerMode)
{
currentMixerMode = mixerMode;
feature3dEnabled = featureIsEnabled(FEATURE_3D);
initEscEndpoints();
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
@ -512,9 +519,9 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
static uint16_t rcThrottlePrevious = 0; // Store the last throttle direction for deadband transitions
static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
static float motorRangeMinIncrease = 0;
float currentThrottleInputRange = 0;
if (featureIsEnabled(FEATURE_3D)) {
float currentThrottleInputRange = 0;
if (feature3dEnabled) {
uint16_t rcCommand3dDeadBandLow;
uint16_t rcCommand3dDeadBandHigh;
@ -617,10 +624,8 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
}
} else {
throttle = rcCommand[THROTTLE] - PWM_RANGE_MIN + throttleAngleCorrection;
float appliedMotorOutputLow = motorOutputLow;
#ifdef USE_DYN_IDLE
if (idleMinMotorRps > 0.0f) {
appliedMotorOutputLow = DSHOT_MIN_THROTTLE;
const float maxIncrease = isAirmodeActivated() ? idleMaxIncrease : 0.04f;
const float minRps = rpmMinMotorFrequency();
const float targetRpsChangeRate = (idleMinMotorRps - minRps) * currentPidProfile->idle_adjustment_speed;
@ -656,7 +661,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
#endif
currentThrottleInputRange = rcCommandThrottleRange;
motorRangeMin = appliedMotorOutputLow + motorRangeMinIncrease * (motorOutputHigh - appliedMotorOutputLow);
motorRangeMin = motorOutputLow + motorRangeMinIncrease * (motorOutputHigh - motorOutputLow);
motorOutputMin = motorRangeMin;
motorOutputRange = motorRangeMax - motorRangeMin;
motorOutputMixSign = 1;
@ -963,7 +968,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
if (featureIsEnabled(FEATURE_MOTOR_STOP)
&& ARMING_FLAG(ARMED)
&& !featureIsEnabled(FEATURE_3D)
&& !feature3dEnabled
&& !airmodeEnabled
&& !FLIGHT_MODE(GPS_RESCUE_MODE) // disable motor_stop while GPS Rescue is active
&& (rcData[THROTTLE] < rxConfig()->mincheck)) {
@ -1010,3 +1015,13 @@ bool isFixedWing(void)
{
return mixerModeIsFixedWing(currentMixerMode);
}
float getMotorOutputLow(void)
{
return motorOutputLow;
}
float getMotorOutputHigh(void)
{
return motorOutputHigh;
}