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Drop max_throttle settings and set it hardcoded to 1850 for

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rovers and boats and 2000 for multicopters and fixedwings.
This commit is contained in:
Pawel Spychalski (DzikuVx) 2024-04-09 20:53:15 +02:00
parent cea4397f7b
commit 3f9d10f155
13 changed files with 53 additions and 43 deletions
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4
src/main/blackbox/blackbox.c
View file

@ -1844,9 +1844,9 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->craftName);
BLACKBOX_PRINT_HEADER_LINE("P interval", "%u/%u", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", getThrottleIdleValue());
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", getMaxThrottle());
BLACKBOX_PRINT_HEADER_LINE("gyro_scale", "0x%x", castFloatBytesToInt(1.0f));
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),getMaxThrottle());
BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G);
#ifdef USE_ADC

8
src/main/fc/fc_msp.c
View file

@ -733,7 +733,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, 0); // Was min_throttle
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, getMaxThrottle());
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
@ -774,7 +774,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, 0); //Was min_throttle
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, getMaxThrottle());
sbufWriteU16(dst, motorConfig()->mincommand);
sbufWriteU16(dst, currentBatteryProfile->failsafe_throttle);
@ -1858,7 +1858,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU16(src); // midrc
sbufReadU16(src); //Was min_throttle
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
sbufReadU16(src); //Was maxThrottle
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
@ -1906,7 +1906,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
sbufReadU16(src); // midrc
sbufReadU16(src); // was min_throttle
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
sbufReadU16(src); // was maxThrottle
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
currentBatteryProfileMutable->failsafe_throttle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);

6
src/main/fc/rc_curves.c
View file

@ -39,7 +39,7 @@ int16_t lookupThrottleRCMid; // THROTTLE curve mid point
void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
{
const int minThrottle = getThrottleIdleValue();
lookupThrottleRCMid = minThrottle + (int32_t)(motorConfig()->maxthrottle - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRCMid = minThrottle + (int32_t)(getMaxThrottle() - minThrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
const int16_t tmp = 10 * i - controlRateConfig->throttle.rcMid8;
@ -49,7 +49,7 @@ void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
if (tmp < 0)
y = controlRateConfig->throttle.rcMid8;
lookupThrottleRC[i] = 10 * controlRateConfig->throttle.rcMid8 + tmp * (100 - controlRateConfig->throttle.rcExpo8 + (int32_t) controlRateConfig->throttle.rcExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = minThrottle + (int32_t) (motorConfig()->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRC[i] = minThrottle + (int32_t) (getMaxThrottle() - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
}
@ -62,7 +62,7 @@ int16_t rcLookup(int32_t stickDeflection, uint8_t expo)
uint16_t rcLookupThrottle(uint16_t absoluteDeflection)
{
if (absoluteDeflection > 999)
return motorConfig()->maxthrottle;
return getMaxThrottle();
const uint8_t lookupStep = absoluteDeflection / 100;
return lookupThrottleRC[lookupStep] + (absoluteDeflection - lookupStep * 100) * (lookupThrottleRC[lookupStep + 1] - lookupThrottleRC[lookupStep]) / 100;

6
src/main/fc/settings.yaml
View file

@ -732,12 +732,6 @@ groups:
type: motorConfig_t
headers: ["flight/mixer.h"]
members:
- name: max_throttle
description: "This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000."
default_value: 1850
field: maxthrottle
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: min_command
description: "This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once."
default_value: 1000

4
src/main/flight/dynamic_lpf.c
View file

@ -41,8 +41,8 @@ void dynamicLpfGyroTask(void) {
return;
}
const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle);
const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), motorConfig()->maxthrottle, 0.0f, 1.0f);
const float throttleConstrained = (float) constrain(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle());
const float throttle = scaleRangef(throttleConstrained, getThrottleIdleValue(), getMaxThrottle(), 0.0f, 1.0f);
const float cutoffFreq = dynLpfCutoffFreq(throttle, gyroConfig()->gyroDynamicLpfMinHz, gyroConfig()->gyroDynamicLpfMaxHz, gyroConfig()->gyroDynamicLpfCurveExpo);
DEBUG_SET(DEBUG_DYNAMIC_GYRO_LPF, 0, cutoffFreq);

45
src/main/flight/mixer.c
View file

@ -57,6 +57,9 @@
#include "sensors/battery.h"
#define MAX_THROTTLE 2000
#define MAX_THROTTLE_ROVER 1850
FASTRAM int16_t motor[MAX_SUPPORTED_MOTORS];
FASTRAM int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
static float motorMixRange;
@ -83,12 +86,11 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
.neutral = SETTING_3D_NEUTRAL_DEFAULT
);
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 10);
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 11);
PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
.motorPwmProtocol = SETTING_MOTOR_PWM_PROTOCOL_DEFAULT,
.motorPwmRate = SETTING_MOTOR_PWM_RATE_DEFAULT,
.maxthrottle = SETTING_MAX_THROTTLE_DEFAULT,
.mincommand = SETTING_MIN_COMMAND_DEFAULT,
.motorPoleCount = SETTING_MOTOR_POLES_DEFAULT, // Most brushless motors that we use are 14 poles
);
@ -106,7 +108,7 @@ void pgResetFn_timerOverrides(timerOverride_t *instance)
int getThrottleIdleValue(void)
{
if (!throttleIdleValue) {
throttleIdleValue = motorConfig()->mincommand + (((motorConfig()->maxthrottle - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle);
throttleIdleValue = motorConfig()->mincommand + (((getMaxThrottle() - motorConfig()->mincommand) / 100.0f) * currentBatteryProfile->motor.throttleIdle);
}
return throttleIdleValue;
@ -242,11 +244,11 @@ void mixerResetDisarmedMotors(void)
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
motorZeroCommand = reversibleMotorsConfig()->neutral;
throttleRangeMin = throttleDeadbandHigh;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
} else {
motorZeroCommand = motorConfig()->mincommand;
throttleRangeMin = throttleIdleValue;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
}
reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD;
@ -357,7 +359,7 @@ static void applyTurtleModeToMotors(void) {
motorOutputNormalised = MIN(1.0f, flipPower * motorOutputNormalised);
motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, motorConfig()->maxthrottle);
motor[i] = (int16_t)scaleRangef(motorOutputNormalised, 0, 1, motorConfig()->mincommand, getMaxThrottle());
}
} else {
// Disarmed mode
@ -407,7 +409,7 @@ void FAST_CODE writeMotors(void)
throttleIdleValue,
DSHOT_DISARM_COMMAND,
motorConfig()->mincommand,
motorConfig()->maxthrottle,
getMaxThrottle(),
DSHOT_MIN_THROTTLE,
DSHOT_MAX_THROTTLE,
true
@ -424,7 +426,7 @@ void FAST_CODE writeMotors(void)
throttleRangeMin,
throttleRangeMax,
reversibleMotorsConfig()->deadband_high,
motorConfig()->maxthrottle,
getMaxThrottle(),
true
);
} else {
@ -551,7 +553,7 @@ void FAST_CODE mixTable(void)
#ifdef USE_PROGRAMMING_FRAMEWORK
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE)) {
throttleRangeMin = throttleIdleValue;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
mixerThrottleCommand = constrain(logicConditionValuesByType[LOGIC_CONDITION_OVERRIDE_THROTTLE], throttleRangeMin, throttleRangeMax);
} else
#endif
@ -562,7 +564,7 @@ void FAST_CODE mixTable(void)
* Throttle is above deadband, FORWARD direction
*/
reversibleMotorsThrottleState = MOTOR_DIRECTION_FORWARD;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
throttleRangeMin = throttleDeadbandHigh;
DISABLE_STATE(SET_REVERSIBLE_MOTORS_FORWARD);
} else if (rcCommand[THROTTLE] <= throttleDeadbandLow) {
@ -591,7 +593,7 @@ void FAST_CODE mixTable(void)
} else {
mixerThrottleCommand = rcCommand[THROTTLE];
throttleRangeMin = throttleIdleValue;
throttleRangeMax = motorConfig()->maxthrottle;
throttleRangeMax = getMaxThrottle();
// Throttle scaling to limit max throttle when battery is full
#ifdef USE_PROGRAMMING_FRAMEWORK
@ -630,7 +632,7 @@ void FAST_CODE mixTable(void)
motor[i] = rpyMix[i] + constrain(mixerThrottleCommand * currentMixer[i].throttle, throttleMin, throttleMax);
if (failsafeIsActive()) {
motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
motor[i] = constrain(motor[i], motorConfig()->mincommand, getMaxThrottle());
} else {
motor[i] = constrain(motor[i], throttleRangeMin, throttleRangeMax);
}
@ -652,7 +654,7 @@ int16_t getThrottlePercent(bool useScaled)
int16_t thr = constrain(mixerThrottleCommand, PWM_RANGE_MIN, PWM_RANGE_MAX);
if (useScaled) {
thr = (thr - throttleIdleValue) * 100 / (motorConfig()->maxthrottle - throttleIdleValue);
thr = (thr - throttleIdleValue) * 100 / (getMaxThrottle() - throttleIdleValue);
} else {
thr = (rxGetChannelValue(THROTTLE) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN);
}
@ -667,7 +669,7 @@ uint16_t setDesiredThrottle(uint16_t throttle, bool allowMotorStop)
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
return throttle;
}
return constrain(throttle, throttleIdleValue, motorConfig()->maxthrottle);
return constrain(throttle, throttleIdleValue, getMaxThrottle());
}
motorStatus_e getMotorStatus(void)
@ -725,3 +727,18 @@ bool areMotorsRunning(void)
return false;
}
uint16_t getMaxThrottle() {
static uint16_t throttle = 0;
if (throttle == 0) {
if (STATE(ROVER) || STATE(BOAT)) {
throttle = MAX_THROTTLE_ROVER;
} else {
throttle = MAX_THROTTLE;
}
}
return throttle;
}

5
src/main/flight/mixer.h
View file

@ -81,7 +81,6 @@ PG_DECLARE(reversibleMotorsConfig_t, reversibleMotorsConfig);
typedef struct motorConfig_s {
// PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
uint8_t motorPwmProtocol;
@ -130,4 +129,6 @@ void stopMotorsNoDelay(void);
void stopPwmAllMotors(void);
void loadPrimaryMotorMixer(void);
bool areMotorsRunning(void);
bool areMotorsRunning(void);
uint16_t getMaxThrottle(void);

4
src/main/flight/pid.c
View file

@ -466,8 +466,8 @@ static float calculateMultirotorTPAFactor(void)
// TPA should be updated only when TPA is actually set
if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) {
tpaFactor = 1.0f;
} else if (rcCommand[THROTTLE] < motorConfig()->maxthrottle) {
tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
} else if (rcCommand[THROTTLE] < getMaxThrottle()) {
tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(getMaxThrottle() - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
} else {
tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f;
}

2
src/main/navigation/navigation_fixedwing.c
View file

@ -647,7 +647,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
if (rcCommand[THROTTLE] < PWM_RANGE_MIN + (PWM_RANGE_MAX - PWM_RANGE_MIN) * 0.95){
correctedThrottleValue += MAX(0, rcCommand[THROTTLE] - currentBatteryProfile->nav.fw.cruise_throttle);
} else {
correctedThrottleValue = motorConfig()->maxthrottle;
correctedThrottleValue = getMaxThrottle();
}
isAutoThrottleManuallyIncreased = (rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle);
} else {

8
src/main/navigation/navigation_multicopter.c
View file

@ -114,7 +114,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
{
// Calculate min and max throttle boundaries (to compensate for integral windup)
const int16_t thrCorrectionMin = getThrottleIdleValue() - currentBatteryProfile->nav.mc.hover_throttle;
const int16_t thrCorrectionMax = motorConfig()->maxthrottle - currentBatteryProfile->nav.mc.hover_throttle;
const int16_t thrCorrectionMax = getMaxThrottle() - currentBatteryProfile->nav.mc.hover_throttle;
float velocity_controller = navPidApply2(&posControl.pids.vel[Z], posControl.desiredState.vel.z, navGetCurrentActualPositionAndVelocity()->vel.z, US2S(deltaMicros), thrCorrectionMin, thrCorrectionMax, 0);
@ -127,7 +127,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
bool adjustMulticopterAltitudeFromRCInput(void)
{
if (posControl.flags.isTerrainFollowEnabled) {
const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle, 0, navConfig()->general.max_terrain_follow_altitude);
const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), getMaxThrottle(), 0, navConfig()->general.max_terrain_follow_altitude);
// In terrain follow mode we apply different logic for terrain control
if (posControl.flags.estAglStatus == EST_TRUSTED && altTarget > 10.0f) {
@ -151,7 +151,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
// Make sure we can satisfy max_manual_climb_rate in both up and down directions
if (rcThrottleAdjustment > 0) {
// Scaling from altHoldThrottleRCZero to maxthrottle
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(getMaxThrottle() - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
}
else {
// Scaling from minthrottle to altHoldThrottleRCZero
@ -190,7 +190,7 @@ void setupMulticopterAltitudeController(void)
// Make sure we are able to satisfy the deadband
altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,
getThrottleIdleValue() + rcControlsConfig()->alt_hold_deadband + 10,
motorConfig()->maxthrottle - rcControlsConfig()->alt_hold_deadband - 10);
getMaxThrottle() - rcControlsConfig()->alt_hold_deadband - 10);
// Force AH controller to initialize althold integral for pending takeoff on reset
// Signal for that is low throttle _and_ low actual altitude

2
src/main/navigation/navigation_rover_boat.c
View file

@ -127,7 +127,7 @@ void applyRoverBoatPitchRollThrottleController(navigationFSMStateFlags_t navStat
rcCommand[YAW] = posControl.rcAdjustment[YAW];
}
rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain(currentBatteryProfile->nav.fw.cruise_throttle, motorConfig()->mincommand, getMaxThrottle());
}
}
}

1
src/main/target/ASGARD32F4/config.c
View file

@ -36,5 +36,4 @@ void targetConfiguration(void)
{
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
motorConfigMutable()->maxthrottle = 1950;
}

1
src/main/target/ASGARD32F7/config.c
View file

@ -36,5 +36,4 @@ void targetConfiguration(void)
{
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
motorConfigMutable()->maxthrottle = 1950;
}