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Convert motor values at the final stage // Increase resolution

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This commit is contained in:
borisbstyle 2017-03-08 01:19:40 +01:00
parent c5054f9e9d
commit b21877438e
9 changed files with 62 additions and 50 deletions
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29
src/main/flight/mixer.c
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@ -114,8 +114,8 @@ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR
static uint8_t motorCount;
static float motorMixRange;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
float motor[MAX_SUPPORTED_MOTORS];
float motor_disarmed[MAX_SUPPORTED_MOTORS];
mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
@ -312,8 +312,8 @@ const mixer_t mixers[] = {
};
#endif // !USE_QUAD_MIXER_ONLY
static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
uint16_t motorOutputHigh, motorOutputLow;
static float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
float motorOutputHigh, motorOutputLow;
static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
uint8_t getMotorCount()
@ -352,17 +352,18 @@ bool isMotorProtocolDshot(void) {
#endif
}
// Add here scaled ESC outputs for digital protol
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void) {
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
disarmMotorOutput = DSHOT_DISARM_COMMAND;
if (feature(FEATURE_3D))
motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue));
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
else
motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue));
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
motorOutputHigh = DSHOT_MAX_THROTTLE;
deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue)); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + ((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
} else
#endif
@ -509,7 +510,7 @@ void mixTable(pidProfile_t *pidProfile)
// Scale roll/pitch/yaw uniformly to fit within throttle range
// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
float throttle = 0, currentThrottleInputRange = 0;
uint16_t motorOutputMin, motorOutputMax;
float motorOutputMin, motorOutputMax;
static uint16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
bool mixerInversion = false;
@ -608,7 +609,7 @@ void mixTable(pidProfile_t *pidProfile)
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (uint32_t i = 0; i < motorCount; i++) {
float motorOutput = motorOutputMin + lrintf(motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle)));
float motorOutput = motorOutputMin + motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle));
// Dshot works exactly opposite in lower 3D section.
if (mixerInversion) {
@ -642,7 +643,7 @@ void mixTable(pidProfile_t *pidProfile)
}
}
uint16_t convertExternalToMotor(uint16_t externalValue)
float convertExternalToMotor(uint16_t externalValue)
{
uint16_t motorValue = externalValue;
#ifdef USE_DSHOT
@ -661,12 +662,12 @@ uint16_t convertExternalToMotor(uint16_t externalValue)
}
#endif
return motorValue;
return (float)motorValue;
}
uint16_t convertMotorToExternal(uint16_t motorValue)
uint16_t convertMotorToExternal(float motorValue)
{
uint16_t externalValue = motorValue;
uint16_t externalValue = lrintf(motorValue);
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
if (feature(FEATURE_3D) && motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {