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https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
Changed float parameters to int16 in 'cli.c'.
Fixed buffer length used for 'ftoa'. Got rid of magic numbers, replaced 'digitalIdlePercent' with 'digitalIdleValue'.
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ce8c5fbd79
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16 changed files with 77 additions and 120 deletions
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@ -96,7 +96,7 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
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#endif
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motorConfig->maxthrottle = 2000;
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motorConfig->mincommand = 1000;
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motorConfig->digitalIdleOffsetPercent = 4.5f;
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motorConfig->digitalIdleOffsetValue = 450;
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int motorIndex = 0;
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for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
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@ -350,11 +350,11 @@ void initEscEndpoints(void) {
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if (isMotorProtocolDshot()) {
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disarmMotorOutput = DSHOT_DISARM_COMMAND;
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if (feature(FEATURE_3D))
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig()->digitalIdleOffsetPercent);
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAM_TO_PERCENT(motorConfig()->digitalIdleOffsetValue));
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else
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig()->digitalIdleOffsetPercent);
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAM_TO_PERCENT(motorConfig()->digitalIdleOffsetValue));
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motorOutputHigh = DSHOT_MAX_THROTTLE;
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deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * motorConfig()->digitalIdleOffsetPercent); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * CONVERT_PARAM_TO_PERCENT(motorConfig()->digitalIdleOffsetValue)); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
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} else
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#endif
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@ -542,13 +542,13 @@ void mixTable(pidProfile_t *pidProfile)
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// Calculate and Limit the PIDsum
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scaledAxisPIDf[FD_ROLL] =
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constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING,
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-pidProfile->pidSumLimit, pidProfile->pidSumLimit);
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-CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit));
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scaledAxisPIDf[FD_PITCH] =
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constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING,
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-pidProfile->pidSumLimit, pidProfile->pidSumLimit);
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-CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit));
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scaledAxisPIDf[FD_YAW] =
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constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING,
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-pidProfile->pidSumLimit, pidProfile->pidSumLimitYaw);
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-CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit), CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimitYaw));
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// Calculate voltage compensation
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const float vbatCompensationFactor = (pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;
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