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Added motor output limiting per profile.

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This commit is contained in:
mikeller 2019-01-27 19:10:05 +13:00
parent 4bff464b92
commit a3cf7e0cf7
5 changed files with 28 additions and 11 deletions
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31
src/main/flight/mixer.c
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@ -367,6 +367,11 @@ bool mixerIsTricopter(void)
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void)
{
float motorOutputLimit = 1.0f;
if (currentPidProfile->motor_output_limit < 100) {
motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
}
// Can't use 'isMotorProtocolDshot()' here since motors haven't been initialised yet
switch (motorConfig()->dev.motorPwmProtocol) {
#ifdef USE_DSHOT
@ -375,29 +380,33 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
{
float outputLimitOffset = ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - motorOutputLimit));
disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
}
motorOutputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset;
deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset;
}
motorOutputHigh = DSHOT_MAX_THROTTLE;
deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1;
break;
#endif
default:
if (featureIsEnabled(FEATURE_3D)) {
float outputLimitOffset = ((flight3DConfig()->limit3d_high - flight3DConfig()->limit3d_low) * (1 - motorOutputLimit));
disarmMotorOutput = flight3DConfig()->neutral3d;
motorOutputLow = flight3DConfig()->limit3d_low;
motorOutputHigh = flight3DConfig()->limit3d_high;
motorOutputLow = flight3DConfig()->limit3d_low + outputLimitOffset;
motorOutputHigh = flight3DConfig()->limit3d_high - outputLimitOffset;
deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
} else {
disarmMotorOutput = motorConfig()->mincommand;
motorOutputLow = motorConfig()->minthrottle;
motorOutputHigh = motorConfig()->maxthrottle;
motorOutputHigh = motorConfig()->maxthrottle - ((motorConfig()->maxthrottle - motorConfig()->minthrottle) * (1 - motorOutputLimit));
}
break;
}