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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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17
src/main/flight/mixer_init.c
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@ -288,11 +288,7 @@ void initEscEndpoints(void)
if (currentPidProfile->motor_output_limit < 100) {
motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
}
motorInitEndpoints(motorConfig(), motorOutputLimit, &mixerRuntime.motorOutputLow, &mixerRuntime.motorOutputHigh, &mixerRuntime.disarmMotorOutput, &mixerRuntime.deadbandMotor3dHigh, &mixerRuntime.deadbandMotor3dLow);
if (!mixerRuntime.feature3dEnabled && currentPidProfile->dyn_idle_min_rpm) {
mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE;
}
}
// Initialize pidProfile related mixer settings
@ -300,12 +296,23 @@ void initEscEndpoints(void)
void mixerInitProfile(void)
{
#ifdef USE_DYN_IDLE
mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
if (motorConfigMutable()->dev.useDshotTelemetry) {
mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
} else {
mixerRuntime.dynIdleMinRps = 0.0f;
}
mixerRuntime.dynIdlePGain = currentPidProfile->dyn_idle_p_gain * 0.00015f;
mixerRuntime.dynIdleIGain = currentPidProfile->dyn_idle_i_gain * 0.01f * pidGetDT();
mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency();
mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors
if (!mixerRuntime.feature3dEnabled ) {
if (mixerRuntime.dynIdleMinRps) {
mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE;
} else {
mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE + mixerRuntime.idleThrottleOffset * DSHOT_RANGE;
}
}
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)