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Code Issues Wiki Activity

motor output scale

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First draft

Change method to percentage compensation

fast sag filter with fast battery updates

Renaming, moving factors to init where possible

Names changed, display update frequency reverted to 50hz as it was

50Hz ESC Voltage sampling, battery sag lowpass for PID compensation.

increment PG_PID_PROFILE, element added to end of batteryConfig_t

all HZ_TO_INTERVALs set back to 200 to match battery task frequency of 200hz.

Add a flag to control vbat comp

Flag vbat_sag_comp_enabled allows battery compensation to be enabled or
disabled from the CLI. When disabled the battery voltage task is run at
50Hz and the battery compensation code is not run. When enabled the
voltage task is run at 200Hz and the compensation code runs. Constants
for the fast and slow rates are added to tasks.h. The default value for
vbat_sag_compensation is changed to 100 as we no longer need to use it
to disable the feature.

Fixed variable task frequency setting.

Added config validation to disable sag compensation unless ADC is used as the voltage data source.

Added conditionals, fixed naming.

Fixed build.
This commit is contained in:
ctzsnooze 2020-03-08 00:16:02 +11:00 • committed by mikeller
parent 9c3d4603b7
commit d63ba914c6
12 changed files with 158 additions and 50 deletions
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37
src/main/flight/mixer.c
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@ -296,7 +296,11 @@ static FAST_RAM_ZERO_INIT float idleThrottleOffset;
static FAST_RAM_ZERO_INIT float idleMinMotorRps;
static FAST_RAM_ZERO_INIT float idleP;
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
static FAST_RAM_ZERO_INIT float vbatSagCompensationFactor;
static FAST_RAM_ZERO_INIT float vbatFull;
static FAST_RAM_ZERO_INIT float vbatRangeToCompensate;
#endif
uint8_t getMotorCount(void)
{
@ -355,6 +359,17 @@ void mixerInitProfile(void)
idleMaxIncrease = currentPidProfile->idle_max_increase * 0.001f;
idleP = currentPidProfile->idle_p * 0.0001f;
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
vbatSagCompensationFactor = 0.0f;
if (currentPidProfile->vbat_sag_compensation > 0) {
vbatFull = CELL_VOLTAGE_FULL_CV;
vbatRangeToCompensate = vbatFull - batteryConfig()->vbatwarningcellvoltage;
if (vbatRangeToCompensate >= 0) {
vbatSagCompensationFactor = ((float)currentPidProfile->vbat_sag_compensation) / 100.0f;
}
}
#endif
}
void mixerInit(mixerMode_e mixerMode)
@ -623,11 +638,27 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
float motorRangeAttenuationFactor = 0;
// reduce motorRangeMax when battery is full
if (vbatSagCompensationFactor > 0.0f) {
const uint16_t currentCellVoltage = getBatterySagCellVoltage();
// batteryGoodness = 1 when voltage is above vbatFull, and 0 when voltage is below vbatLow
float batteryGoodness = 1.0f - constrainf((vbatFull - currentCellVoltage) / vbatRangeToCompensate, 0.0f, 1.0f);
motorRangeAttenuationFactor = (vbatRangeToCompensate / vbatFull) * batteryGoodness * vbatSagCompensationFactor;
DEBUG_SET(DEBUG_BATTERY, 2, batteryGoodness * 100);
DEBUG_SET(DEBUG_BATTERY, 3, motorRangeAttenuationFactor * 1000);
}
motorRangeMax = motorOutputHigh - motorRangeAttenuationFactor * (motorOutputHigh - motorOutputLow);
#else
motorRangeMax = motorOutputHigh;
#endif
currentThrottleInputRange = rcCommandThrottleRange;
motorRangeMin = motorOutputLow + motorRangeMinIncrease * (motorOutputHigh - motorOutputLow);
motorRangeMax = motorOutputHigh;
motorOutputMin = motorRangeMin;
motorOutputRange = motorOutputHigh - motorOutputMin;
motorOutputRange = motorRangeMax - motorRangeMin;
motorOutputMixSign = 1;
}