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Merge pull request #6798 from etracer65/3d_deadband_fix

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Fix zero throttle deadband when using switched 3D modes
This commit is contained in:
Michael Keller 2018-09-20 20:58:00 +12:00 • committed by GitHub
commit b057ce550d
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1 changed files with 19 additions and 9 deletions
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28
src/main/flight/mixer.c
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@ -320,9 +320,7 @@ const mixer_t mixers[] = {
FAST_RAM_ZERO_INIT float motorOutputHigh, motorOutputLow; FAST_RAM_ZERO_INIT float motorOutputHigh, motorOutputLow;
static FAST_RAM_ZERO_INIT float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow; static FAST_RAM_ZERO_INIT float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
static FAST_RAM_ZERO_INIT uint16_t rcCommand3dDeadBandLow; static FAST_RAM_ZERO_INIT float rcCommandThrottleRange;
static FAST_RAM_ZERO_INIT uint16_t rcCommand3dDeadBandHigh;
static FAST_RAM_ZERO_INIT float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
uint8_t getMotorCount(void) uint8_t getMotorCount(void)
{ {
@ -401,12 +399,6 @@ void initEscEndpoints(void)
} }
rcCommandThrottleRange = PWM_RANGE_MAX - rxConfig()->mincheck; rcCommandThrottleRange = PWM_RANGE_MAX - rxConfig()->mincheck;
rcCommand3dDeadBandLow = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
rcCommand3dDeadBandHigh = rxConfig()->midrc + flight3DConfig()->deadband3d_throttle;
rcCommandThrottleRange3dLow = rcCommand3dDeadBandLow - PWM_RANGE_MIN;
rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rcCommand3dDeadBandHigh;
} }
void mixerInit(mixerMode_e mixerMode) void mixerInit(mixerMode_e mixerMode)
@ -528,10 +520,28 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
float currentThrottleInputRange = 0; float currentThrottleInputRange = 0;
if (featureIsEnabled(FEATURE_3D)) { if (featureIsEnabled(FEATURE_3D)) {
uint16_t rcCommand3dDeadBandLow;
uint16_t rcCommand3dDeadBandHigh;
if (!ARMING_FLAG(ARMED)) { if (!ARMING_FLAG(ARMED)) {
rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming. rcThrottlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
} }
if (IS_RC_MODE_ACTIVE(BOX3D) || flight3DConfig()->switched_mode3d) {
// The min_check range is halved because the output throttle is scaled to 500us.
// So by using half of min_check we maintain the same low-throttle deadband
// stick travel as normal non-3D mode.
const int mincheckOffset = (rxConfig()->mincheck - PWM_RANGE_MIN) / 2;
rcCommand3dDeadBandLow = rxConfig()->midrc - mincheckOffset;
rcCommand3dDeadBandHigh = rxConfig()->midrc + mincheckOffset;
} else {
rcCommand3dDeadBandLow = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
rcCommand3dDeadBandHigh = rxConfig()->midrc + flight3DConfig()->deadband3d_throttle;
}
const float rcCommandThrottleRange3dLow = rcCommand3dDeadBandLow - PWM_RANGE_MIN;
const float rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rcCommand3dDeadBandHigh;
if (rcCommand[THROTTLE] <= rcCommand3dDeadBandLow) { if (rcCommand[THROTTLE] <= rcCommand3dDeadBandLow) {
// INVERTED // INVERTED
motorRangeMin = motorOutputLow; motorRangeMin = motorOutputLow;