From bca9f8a58799210e7de4f59434454118f3d4becc Mon Sep 17 00:00:00 2001
From: Thorsten Laux <thorsten.laux@gmx.net>
Date: Sun, 28 Jul 2019 10:41:03 +0200
Subject: [PATCH] better idle defaults and don't set idle_throttle if not
 enabled

---
 src/main/build/debug.c  |  1 +
 src/main/build/debug.h  |  1 +
 src/main/flight/mixer.c | 10 +++++++++-
 src/main/flight/pid.c   |  4 ++--
 4 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/src/main/build/debug.c b/src/main/build/debug.c
index 21f3e005fc..148e1e9031 100644
--- a/src/main/build/debug.c
+++ b/src/main/build/debug.c
@@ -92,4 +92,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     "CRSF_LINK_STATISTICS_DOWN",
     "BARO",
     "GPS_RESCUE_THROTTLE_PID",
+    "DYN_IDLE",
 };
diff --git a/src/main/build/debug.h b/src/main/build/debug.h
index be92a3fa05..0d1c4222a2 100644
--- a/src/main/build/debug.h
+++ b/src/main/build/debug.h
@@ -108,6 +108,7 @@ typedef enum {
     DEBUG_CRSF_LINK_STATISTICS_DOWN,
     DEBUG_BARO,
     DEBUG_GPS_RESCUE_THROTTLE_PID,
+    DEBUG_DYN_IDLE,
     DEBUG_COUNT
 } debugType_e;
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index a2b4331483..6f0ad0507d 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -585,6 +585,12 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
             const float pidSum = constrainf(currentPidProfile->idle_p * 0.0001f * error, -currentPidProfile->idle_pid_limit, currentPidProfile->idle_pid_limit);
             motorRangeMinIncrease = constrainf(motorRangeMinIncrease + pidSum * dT, 0.0f, maxIncrease);
             oldMinRpm = minRpm;
+
+            DEBUG_SET(DEBUG_DYN_IDLE, 0, motorRangeMinIncrease * 1000);
+            DEBUG_SET(DEBUG_DYN_IDLE, 1, targetRpmChangeRate);
+            DEBUG_SET(DEBUG_DYN_IDLE, 2, error);
+            DEBUG_SET(DEBUG_DYN_IDLE, 3, minRpm);
+            
         }
 #endif
         
@@ -849,7 +855,9 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
 #endif
 
 #ifdef USE_DYN_IDLE
-    throttle += currentPidProfile->idle_throttle * 0.001f;
+    if (currentPidProfile->idle_hz) {
+        throttle += currentPidProfile->idle_throttle * 0.001f;
+    }
 #endif
 
 #if defined(USE_THROTTLE_BOOST)
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 5cc047b974..e936ab75e3 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -207,9 +207,9 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .transient_throttle_limit = 15,
         .profileName = { 0 },
         .idle_hz = 0,
-        .idle_adjustment_speed = 200,
+        .idle_adjustment_speed = 50,
         .idle_throttle = 60,
-        .idle_p = 40,
+        .idle_p = 50,
         .idle_pid_limit = 200,
         .idle_max_increase = 150,
     );