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Document 3D for DSHOT and special values
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2 changed files with 22 additions and 4 deletions
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@ -256,8 +256,8 @@ void initEscEndpoints(void) {
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disarmMotorOutput = DSHOT_DISARM_COMMAND;
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minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
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maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
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deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH;
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deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
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deadbandMotor3dHigh = DSHOT_3D_MIN_NEGATIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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deadbandMotor3dLow = DSHOT_3D_MAX_POSITIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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} else
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#endif
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{
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@ -21,12 +21,30 @@
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#define QUAD_MOTOR_COUNT 4
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/*
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DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
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0 = stop
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1-5: beep
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6: ESC info request (FW Version and SN sent over the tlm wire)
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7: spin direction 1
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8: spin direction 2
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9: 3d mode off
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10: 3d mode on
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11: ESC settings request (saved settings over the TLM wire)
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12: save Settings
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3D Mode:
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0 = stop
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48 (low) - 1047 (high) -> positive direction
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1048 (low) - 2047 (high) -> negative direction
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*/
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// Digital protocol has fixed values
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#define DSHOT_DISARM_COMMAND 0
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#define DSHOT_MIN_THROTTLE 48
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#define DSHOT_MAX_THROTTLE 2047
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#define DSHOT_3D_DEADBAND_LOW 900 // TODO - not agreed yet
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#define DSHOT_3D_DEADBAND_HIGH 1100 // TODO - not agreed yet
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#define DSHOT_3D_MAX_POSITIVE 1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
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#define DSHOT_3D_MIN_NEGATIVE 1048// TODO - Not working yet!! Mixer requires some throttle rescaling changes
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// Note: this is called MultiType/MULTITYPE_* in baseflight.
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typedef enum mixerMode
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