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Retain dynamic idle settings, reduce dependencies

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This commit is contained in:
ctzsnooze 2021-10-21 21:07:35 +11:00
parent 2e7515dd60
commit 7b0b8ee35d
5 changed files with 23 additions and 25 deletions
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10
src/main/flight/mixer.c
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@ -105,7 +105,6 @@ static FAST_DATA_ZERO_INIT float motorRangeMax;
static FAST_DATA_ZERO_INIT float motorOutputRange;
static FAST_DATA_ZERO_INIT int8_t motorOutputMixSign;
static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
{
static uint16_t rcThrottlePrevious = 0; // Store the last throttle direction for deadband transitions
@ -220,7 +219,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
#ifdef USE_DYN_IDLE
if (mixerRuntime.dynIdleMinRps > 0.0f) {
const float maxIncrease = isAirmodeActivated() ? mixerRuntime.dynIdleMaxIncrease : 0.04f;
const float maxIncrease = isAirmodeActivated() ? mixerRuntime.dynIdleMaxIncrease : 0.05f;
float minRps = rpmMinMotorFrequency();
DEBUG_SET(DEBUG_DYN_IDLE, 3, (minRps * 10));
float rpsError = mixerRuntime.dynIdleMinRps - minRps;
@ -233,11 +232,10 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
mixerRuntime.dynIdleI += rpsError * mixerRuntime.dynIdleIGain;
mixerRuntime.dynIdleI = constrainf(mixerRuntime.dynIdleI, 0.0f, maxIncrease);
motorRangeMinIncrease = constrainf((dynIdleP + mixerRuntime.dynIdleI + dynIdleD), 0.0f, maxIncrease);
DEBUG_SET(DEBUG_DYN_IDLE, 0, (MAX(-1000.0f, dynIdleP * 10000)));
DEBUG_SET(DEBUG_DYN_IDLE, 1, (mixerRuntime.dynIdleI * 10000));
DEBUG_SET(DEBUG_DYN_IDLE, 2, (dynIdleD * 10000));
} else {
} else {
motorRangeMinIncrease = 0;
}
#endif
@ -537,9 +535,9 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
mixerThrottle = throttle;
#ifdef USE_DYN_IDLE
// Apply digital idle throttle offset when stick is at zero after all other adjustments are complete
// Set min throttle offset of 1% when stick is at zero and dynamic idle is active
if (mixerRuntime.dynIdleMinRps > 0.0f) {
throttle = MAX(throttle, mixerRuntime.idleThrottleOffset);
throttle = MAX(throttle, 0.01f);
}
#endif