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Code Issues Wiki Activity

First attempt low throttle airmode oscillation fix

Browse source 
raise dc offset immediately

Add airmode noise fix

no filter when inactive and slightly more throttle

hpf throttle to avoid large moves increasing throttle persistently

fix ws

fix ununsed variable and default to off

include airmode throttle offset in loggingThrottle
This commit is contained in:
Thorsten Laux 2019-01-26 12:28:51 +01:00 • committed by mikeller
parent 966971c750
commit e16ef1db4f
5 changed files with 66 additions and 0 deletions
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13
src/main/flight/mixer.c
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@ -926,7 +926,13 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
}
#endif
#ifdef USE_AIRMODE_LPF
const float unadjustedThrottle = throttle;
throttle += pidGetAirmodeThrottleOffset();
float airmodeThrottleChange = 0;
#endif
loggingThrottle = throttle;
motorMixRange = motorMixMax - motorMixMin;
if (motorMixRange > 1.0f) {
for (int i = 0; i < motorCount; i++) {
@ -939,9 +945,16 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
} else {
if (airmodeEnabled || throttle > 0.5f) { // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
throttle = constrainf(throttle, -motorMixMin, 1.0f - motorMixMax);
#ifdef USE_AIRMODE_LPF
airmodeThrottleChange = constrainf(unadjustedThrottle, -motorMixMin, 1.0f - motorMixMax) - unadjustedThrottle;
#endif
}
}
#ifdef USE_AIRMODE_LPF
pidUpdateAirmodeLpf(airmodeThrottleChange);
#endif
if (featureIsEnabled(FEATURE_MOTOR_STOP)
&& ARMING_FLAG(ARMED)
&& !featureIsEnabled(FEATURE_3D)