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Cleaned up handling of 'oldMinRps' in dynamic idle code.

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This commit is contained in:
mikeller 2020-08-17 22:11:10 +12:00
parent 32e389466c
commit a5a1c8dd59
1 changed files with 2 additions and 4 deletions
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6
src/main/flight/mixer.c
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@ -293,6 +293,7 @@ static FAST_RAM_ZERO_INIT float idleMaxIncrease;
static FAST_RAM_ZERO_INIT float idleThrottleOffset; static FAST_RAM_ZERO_INIT float idleThrottleOffset;
static FAST_RAM_ZERO_INIT float idleMinMotorRps; static FAST_RAM_ZERO_INIT float idleMinMotorRps;
static FAST_RAM_ZERO_INIT float idleP; static FAST_RAM_ZERO_INIT float idleP;
static FAST_RAM_ZERO_INIT float oldMinRps;
#endif #endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION) #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
static FAST_RAM_ZERO_INIT float vbatSagCompensationFactor; static FAST_RAM_ZERO_INIT float vbatSagCompensationFactor;
@ -356,6 +357,7 @@ void mixerInitProfile(void)
idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f; idleMinMotorRps = currentPidProfile->idle_min_rpm * 100.0f / 60.0f;
idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f; idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f;
idleP = currentPidProfile->idle_p * 0.0001f; idleP = currentPidProfile->idle_p * 0.0001f;
oldMinRps = 0;
#endif #endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION) #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
@ -510,9 +512,6 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
static uint16_t rcThrottlePrevious = 0; // Store the last throttle direction for deadband transitions static uint16_t rcThrottlePrevious = 0; // Store the last throttle direction for deadband transitions
static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
static float motorRangeMinIncrease = 0; static float motorRangeMinIncrease = 0;
#ifdef USE_DYN_IDLE
static float oldMinRps;
#endif
float currentThrottleInputRange = 0; float currentThrottleInputRange = 0;
if (featureIsEnabled(FEATURE_3D)) { if (featureIsEnabled(FEATURE_3D)) {
@ -637,7 +636,6 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_DYN_IDLE, 3, minRps); DEBUG_SET(DEBUG_DYN_IDLE, 3, minRps);
} else { } else {
motorRangeMinIncrease = 0; motorRangeMinIncrease = 0;
oldMinRps = 0;
} }
#endif #endif