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Document 3D for DSHOT and special values

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This commit is contained in:
borisbstyle 2016-10-28 16:21:03 +02:00
parent 82eb3ca967
commit af2a575460
2 changed files with 22 additions and 4 deletions
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4
src/main/flight/mixer.c
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@ -256,8 +256,8 @@ void initEscEndpoints(void) {
disarmMotorOutput = DSHOT_DISARM_COMMAND;
minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH;
deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
deadbandMotor3dHigh = DSHOT_3D_MIN_NEGATIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
deadbandMotor3dLow = DSHOT_3D_MAX_POSITIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
} else
#endif
{

22
src/main/flight/mixer.h
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@ -21,12 +21,30 @@
#define QUAD_MOTOR_COUNT 4
/*
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
0 = stop
1-5: beep
6: ESC info request (FW Version and SN sent over the tlm wire)
7: spin direction 1
8: spin direction 2
9: 3d mode off
10: 3d mode on
11: ESC settings request (saved settings over the TLM wire)
12: save Settings
3D Mode:
0 = stop
48 (low) - 1047 (high) -> positive direction
1048 (low) - 2047 (high) -> negative direction
*/
// Digital protocol has fixed values
#define DSHOT_DISARM_COMMAND 0
#define DSHOT_MIN_THROTTLE 48
#define DSHOT_MAX_THROTTLE 2047
#define DSHOT_3D_DEADBAND_LOW 900 // TODO - not agreed yet
#define DSHOT_3D_DEADBAND_HIGH 1100 // TODO - not agreed yet
#define DSHOT_3D_MAX_POSITIVE 1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
#define DSHOT_3D_MIN_NEGATIVE 1048// TODO - Not working yet!! Mixer requires some throttle rescaling changes
// Note: this is called MultiType/MULTITYPE_* in baseflight.
typedef enum mixerMode