Added motor output limiting per profile.

src/main/cli/settings.c

@@ -1013,6 +1013,8 @@ const clivalue_t valueTable[] = {
     { "dterm_cut_lowpass_hz",       VAR_UINT8 | PROFILE_VALUE,  .config.minmax = { 1, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_cut_lowpass_hz) },
 #endif
 
+    { "motor_output_limit",       VAR_UINT8 | PROFILE_VALUE,  .config.minmax = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, motor_output_limit) },
+
 #ifdef USE_LAUNCH_CONTROL
     { "launch_control_mode",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },
     { "launch_trigger_allow_reset", VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlAllowTriggerReset) },

src/main/fc/config.c

@@ -208,6 +208,10 @@ static void validateAndFixConfig(void)
     }
 #endif
 
+    if (currentPidProfile->motor_output_limit > 100 || currentPidProfile->motor_output_limit == 0) {
+        currentPidProfile->motor_output_limit = 100;
+    }
+
     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
         featureDisable(FEATURE_3D);
 

src/main/flight/mixer.c

@@ -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)) {
+            float outputLimitOffset = ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - motorOutputLimit));
-            motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
+            disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
-        } else {
+            if (featureIsEnabled(FEATURE_3D)) {
-            motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
+                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;
+            motorOutputLow = flight3DConfig()->limit3d_low + outputLimitOffset;
-            motorOutputHigh = flight3DConfig()->limit3d_high;
+            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;
     }

src/main/flight/pid.c

@@ -202,6 +202,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pid[PID_ROLL].D = 30;
     pidProfile->pid[PID_PITCH].D = 32;
 #endif
+    pidProfile->motor_output_limit = 100;
 }
 
 void pgResetFn_pidProfiles(pidProfile_t *pidProfiles)

src/main/flight/pid.h

@@ -164,6 +164,7 @@ typedef struct pidProfile_s {
     uint8_t dterm_cut_gain;                 // Gain factor for amount of gyro activity required to remove the dterm cut
     uint8_t dterm_cut_range_hz;             // Biquad to prevent high frequency gyro noise from removing the dterm cut
     uint8_t dterm_cut_lowpass_hz;           // First order lowpass to delay and smooth dterm cut factor
+    uint8_t motor_output_limit;             // Upper limit of the motor output (percent)
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);