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Fixed checking of PID loop timing.

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This commit is contained in:
mikeller 2017-08-27 10:16:23 +12:00
parent 41df8adbdb
commit 79f0e6dd1f
1 changed files with 12 additions and 10 deletions
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22
src/main/fc/config.c
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@ -535,7 +535,7 @@ void validateAndFixGyroConfig(void)
float motorUpdateRestriction;
switch (motorConfig()->dev.motorPwmProtocol) {
case (PWM_TYPE_STANDARD):
motorUpdateRestriction = 1.0f/BRUSHLESS_MOTORS_PWM_RATE;
motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
break;
case (PWM_TYPE_ONESHOT125):
motorUpdateRestriction = 0.0005f;
@ -555,17 +555,19 @@ void validateAndFixGyroConfig(void)
motorUpdateRestriction = 0.00003125f;
}
if (pidLooptime < motorUpdateRestriction) {
const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom);
}
if (!motorConfig()->dev.useUnsyncedPwm) {
if (pidLooptime < motorUpdateRestriction) {
const uint8_t minPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
// Prevent overriding the max rate of motors
if (motorConfig()->dev.useUnsyncedPwm && (motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) {
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
}
} else {
// Prevent overriding the max rate of motors
if ((motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && (motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD)) {
const uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction);
if (motorConfig()->dev.motorPwmRate > maxEscRate)
motorConfigMutable()->dev.motorPwmRate = maxEscRate;
motorConfigMutable()->dev.motorPwmRate = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
}
}
}
#endif