Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Fixed checking of PID loop timing.

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

22
src/main/fc/config.c
View file

@ -535,7 +535,7 @@ void validateAndFixGyroConfig(void)
float motorUpdateRestriction; float motorUpdateRestriction;
switch (motorConfig()->dev.motorPwmProtocol) { switch (motorConfig()->dev.motorPwmProtocol) {
case (PWM_TYPE_STANDARD): case (PWM_TYPE_STANDARD):
motorUpdateRestriction = 1.0f/BRUSHLESS_MOTORS_PWM_RATE; motorUpdateRestriction = 1.0f / BRUSHLESS_MOTORS_PWM_RATE;
break; break;
case (PWM_TYPE_ONESHOT125): case (PWM_TYPE_ONESHOT125):
motorUpdateRestriction = 0.0005f; motorUpdateRestriction = 0.0005f;
@ -555,17 +555,19 @@ void validateAndFixGyroConfig(void)
motorUpdateRestriction = 0.00003125f; motorUpdateRestriction = 0.00003125f;
} }
if (pidLooptime < motorUpdateRestriction) { if (!motorConfig()->dev.useUnsyncedPwm) {
const uint8_t maxPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM); if (pidLooptime < motorUpdateRestriction) {
pidConfigMutable()->pid_process_denom = MIN(pidConfigMutable()->pid_process_denom, maxPidProcessDenom); const uint8_t minPidProcessDenom = constrain(motorUpdateRestriction / (samplingTime * gyroConfig()->gyro_sync_denom), 1, MAX_PID_PROCESS_DENOM);
}
// Prevent overriding the max rate of motors pidConfigMutable()->pid_process_denom = MAX(pidConfigMutable()->pid_process_denom, minPidProcessDenom);
if (motorConfig()->dev.useUnsyncedPwm && (motorConfig()->dev.motorPwmProtocol <= PWM_TYPE_BRUSHED) && motorConfig()->dev.motorPwmProtocol != PWM_TYPE_STANDARD) { }
uint32_t maxEscRate = lrintf(1.0f / motorUpdateRestriction); } 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 = MIN(motorConfig()->dev.motorPwmRate, maxEscRate);
motorConfigMutable()->dev.motorPwmRate = maxEscRate; }
} }
} }
#endif #endif