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anti desync depricated // Replaced by motor_accel_limit

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borisbstyle 2016-07-17 21:35:04 +02:00
parent 2d6e0da773
commit 9c50ed8769
5 changed files with 29 additions and 19 deletions
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38
src/main/flight/mixer.c
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@ -830,17 +830,40 @@ void mixTable(void)
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
}
// Get the maximum correction by setting offset to center
if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} else {
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);
}
// Keep track for motor update timing
float motorDtms;
if (escAndServoConfig->accelerationLimitPercent) {
static uint32_t previousMotorTime;
uint32_t currentMotorTime = micros();
motorDtms = (float) (currentMotorTime - previousMotorTime) / 1000.0f;
previousMotorTime = currentMotorTime;
}
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (i = 0; i < motorCount; i++) {
motor[i] = rollPitchYawMix[i] + constrain(throttle * currentMixer[i].throttle, throttleMin, throttleMax);
// Accel limit. Prevent PID controller to output huge ramps to the motors. Only limiting acceleration.
if (escAndServoConfig->accelerationLimitPercent) {
static int16_t lastFilteredMotor[MAX_SUPPORTED_MOTORS];
// acceleration limit
float delta = motor[i] - lastFilteredMotor[i];
const float maxDeltaPerMs = throttleRange * ((float)escAndServoConfig->accelerationLimitPercent / 100.0f);
float maxDelta = maxDeltaPerMs * motorDtms;
if (delta > maxDelta) { // accelerating too hard
motor[i] = lastFilteredMotor[i] + maxDelta;
}
lastFilteredMotor[i] = motor[i];
}
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
} else if (feature(FEATURE_3D)) {
@ -859,19 +882,6 @@ void mixTable(void)
motor[i] = escAndServoConfig->mincommand;
}
}
// Experimental Code. Anti Desync feature for ESC's
if (escAndServoConfig->escDesyncProtection) {
const int16_t maxThrottleStep = constrain(escAndServoConfig->escDesyncProtection / (1000 / targetPidLooptime), 5, 10000);
// Only makes sense when it's within the range
if (maxThrottleStep < throttleRange) {
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
motorPrevious[i] = motor[i];
}
}
}
// Disarmed mode