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Code Issues Wiki Activity

Drop min_throttle in favor of throttle IDLE percent

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-12-22 21:33:19 +01:00
parent 419d4e48e0
commit 4fd2149e2b
20 changed files with 63 additions and 61 deletions
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8
src/main/blackbox/blackbox.c
View file

@ -755,7 +755,7 @@ static void writeIntraframe(void)
* Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
* Throttle lies in range [minthrottle..maxthrottle]:
*/
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - motorConfig()->minthrottle);
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - getThrottleIdleValue());
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
/*
@ -809,7 +809,7 @@ static void writeIntraframe(void)
}
//Motors can be below minthrottle when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle);
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - getThrottleIdleValue());
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
const int motorCount = getMotorCount();
@ -1618,10 +1618,10 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("Log start datetime", "%s", blackboxGetStartDateTime(buf));
BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->name);
BLACKBOX_PRINT_HEADER_LINE("P interval", "%u/%u", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", getThrottleIdleValue());
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro_scale", "0x%x", castFloatBytesToInt(1.0f));
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", motorConfig()->minthrottle,motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", getThrottleIdleValue(),motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(

2
src/main/cms/cms_menu_misc.c
View file

@ -42,7 +42,7 @@ static const OSD_Entry menuMiscEntries[]=
{
OSD_LABEL_ENTRY("-- MISC --"),
OSD_SETTING_ENTRY("MIN THR", SETTING_MIN_THROTTLE),
OSD_SETTING_ENTRY("THR IDLE", SETTING_THROTTLE_IDLE),
#if defined(USE_OSD) && defined(USE_ADC)
OSD_SETTING_ENTRY("OSD VOLT DECIMALS", SETTING_OSD_MAIN_VOLTAGE_DECIMALS),
OSD_SETTING_ENTRY("STATS ENERGY UNIT", SETTING_OSD_STATS_ENERGY_UNIT),

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

@ -793,9 +793,9 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
}
if (thrTiltCompStrength) {
rcCommand[THROTTLE] = constrain(motorConfig()->minthrottle
+ (rcCommand[THROTTLE] - motorConfig()->minthrottle) * calculateThrottleTiltCompensationFactor(thrTiltCompStrength),
motorConfig()->minthrottle,
rcCommand[THROTTLE] = constrain(getThrottleIdleValue()
+ (rcCommand[THROTTLE] - getThrottleIdleValue()) * calculateThrottleTiltCompensationFactor(thrTiltCompStrength),
getThrottleIdleValue(),
motorConfig()->maxthrottle);
}
}

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

@ -702,7 +702,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP_MISC:
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, motorConfig()->minthrottle);
sbufWriteU16(dst, 0); // Was min_throttle
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
@ -732,7 +732,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP2_INAV_MISC:
sbufWriteU16(dst, PWM_RANGE_MIDDLE);
sbufWriteU16(dst, motorConfig()->minthrottle);
sbufWriteU16(dst, 0); //Was min_throttle
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
@ -1712,7 +1712,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (dataSize >= 22) {
sbufReadU16(src); // midrc
motorConfigMutable()->minthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
sbufReadU16(src); //Was min_throttle
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);
@ -1753,7 +1753,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
if (dataSize == 41) {
sbufReadU16(src); // midrc
motorConfigMutable()->minthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
sbufReadU16(src); // was min_throttle
motorConfigMutable()->maxthrottle = constrain(sbufReadU16(src), PWM_RANGE_MIN, PWM_RANGE_MAX);
motorConfigMutable()->mincommand = constrain(sbufReadU16(src), 0, PWM_RANGE_MAX);

4
src/main/fc/rc_curves.c
View file

@ -41,7 +41,7 @@ int16_t lookupThrottleRCMid; // THROTTLE curve mid point
void generateThrottleCurve(const controlRateConfig_t *controlRateConfig)
{
lookupThrottleRCMid = motorConfig()->minthrottle + (int32_t)(motorConfig()->maxthrottle - motorConfig()->minthrottle) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRCMid = getThrottleIdleValue() + (int32_t)(motorConfig()->maxthrottle - getThrottleIdleValue()) * controlRateConfig->throttle.rcMid8 / 100; // [MINTHROTTLE;MAXTHROTTLE]
for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
const int16_t tmp = 10 * i - controlRateConfig->throttle.rcMid8;
@ -51,7 +51,7 @@ 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] = motorConfig()->minthrottle + (int32_t) (motorConfig()->maxthrottle - motorConfig()->minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRC[i] = getThrottleIdleValue() + (int32_t) (motorConfig()->maxthrottle - getThrottleIdleValue()) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
}

8
src/main/fc/settings.yaml
View file

@ -478,10 +478,6 @@ groups:
type: motorConfig_t
headers: ["flight/mixer.h"]
members:
- name: min_throttle
field: minthrottle
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: max_throttle
field: maxthrottle
min: PWM_RANGE_MIN
@ -509,6 +505,10 @@ groups:
field: throttleScale
min: 0
max: 1
- name: throttle_idle
field: throttleIdle
min: 4
max: 30
- name: motor_poles
field: motorPoleCount
min: 4

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

@ -216,7 +216,7 @@ bool failsafeRequiresMotorStop(void)
{
return failsafeState.active &&
failsafeState.activeProcedure == FAILSAFE_PROCEDURE_AUTO_LANDING &&
failsafeConfig()->failsafe_throttle < motorConfig()->minthrottle;
failsafeConfig()->failsafe_throttle < getThrottleIdleValue();
}
void failsafeStartMonitoring(void)
@ -287,7 +287,7 @@ void failsafeApplyControlInput(void)
break;
case THROTTLE:
rcCommand[idx] = feature(FEATURE_3D) ? PWM_RANGE_MIDDLE : motorConfig()->minthrottle;
rcCommand[idx] = feature(FEATURE_3D) ? PWM_RANGE_MIDDLE : getThrottleIdleValue();
break;
}
break;

39
src/main/flight/mixer.c
View file

@ -61,6 +61,7 @@ static float mixerScale = 1.0f;
static EXTENDED_FASTRAM motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
static EXTENDED_FASTRAM uint8_t motorCount = 0;
EXTENDED_FASTRAM int mixerThrottleCommand;
static EXTENDED_FASTRAM int throttleIdleValue = 1150;
PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
@ -96,7 +97,6 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 4);
PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
.minthrottle = DEFAULT_MIN_THROTTLE,
.motorPwmProtocol = DEFAULT_PWM_PROTOCOL,
.motorPwmRate = DEFAULT_PWM_RATE,
.maxthrottle = DEFAULT_MAX_THROTTLE,
@ -104,6 +104,7 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
.motorAccelTimeMs = 0,
.motorDecelTimeMs = 0,
.digitalIdleOffsetValue = 450, // Same scale as in Betaflight
.throttleIdle = 15.0f,
.throttleScale = 1.0f,
.motorPoleCount = 14 // Most brushless motors that we use are 14 poles
);
@ -113,6 +114,11 @@ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, primaryMotorMixer, PG_MOTO
typedef void (*motorRateLimitingApplyFnPtr)(const float dT);
static EXTENDED_FASTRAM motorRateLimitingApplyFnPtr motorRateLimitingApplyFn;
int getThrottleIdleValue(void)
{
return throttleIdleValue;
}
static void computeMotorCount(void)
{
motorCount = 0;
@ -174,7 +180,7 @@ void applyMotorRateLimiting(const float dT)
}
else {
// Calculate max motor step
const uint16_t motorRange = motorConfig()->maxthrottle - motorConfig()->minthrottle;
const uint16_t motorRange = motorConfig()->maxthrottle - throttleIdleValue;
const float motorMaxInc = (motorConfig()->motorAccelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorAccelTimeMs * 1e-3f);
const float motorMaxDec = (motorConfig()->motorDecelTimeMs == 0) ? 2000 : motorRange * dT / (motorConfig()->motorDecelTimeMs * 1e-3f);
@ -183,12 +189,12 @@ void applyMotorRateLimiting(const float dT)
motorPrevious[i] = constrainf(motor[i], motorPrevious[i] - motorMaxDec, motorPrevious[i] + motorMaxInc);
// Handle throttle below min_throttle (motor start/stop)
if (motorPrevious[i] < motorConfig()->minthrottle) {
if (motor[i] < motorConfig()->minthrottle) {
if (motorPrevious[i] < throttleIdleValue) {
if (motor[i] < throttleIdleValue) {
motorPrevious[i] = motor[i];
}
else {
motorPrevious[i] = motorConfig()->minthrottle;
motorPrevious[i] = throttleIdleValue;
}
}
}
@ -202,6 +208,7 @@ void applyMotorRateLimiting(const float dT)
void mixerInit(void)
{
throttleIdleValue = motorConfig()->mincommand + (((motorConfig()->maxthrottle - motorConfig()->mincommand) / 100.0f) * motorConfig()->throttleIdle);
computeMotorCount();
loadPrimaryMotorMixer();
// in 3D mode, mixer gain has to be halved
@ -237,8 +244,8 @@ void FAST_CODE NOINLINE writeMotors(void)
const float dshotMinThrottleOffset = (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 10000.0f * motorConfig()->digitalIdleOffsetValue;
if (feature(FEATURE_3D)) {
if (motor[i] >= motorConfig()->minthrottle && motor[i] <= flight3DConfig()->deadband3d_low) {
motorValue = scaleRangef(motor[i], motorConfig()->minthrottle, flight3DConfig()->deadband3d_low, DSHOT_3D_DEADBAND_LOW, dshotMinThrottleOffset + DSHOT_MIN_THROTTLE);
if (motor[i] >= throttleIdleValue && motor[i] <= flight3DConfig()->deadband3d_low) {
motorValue = scaleRangef(motor[i], throttleIdleValue, flight3DConfig()->deadband3d_low, DSHOT_3D_DEADBAND_LOW, dshotMinThrottleOffset + DSHOT_MIN_THROTTLE);
motorValue = constrain(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_DEADBAND_LOW);
}
else if (motor[i] >= flight3DConfig()->deadband3d_high && motor[i] <= motorConfig()->maxthrottle) {
@ -250,11 +257,11 @@ void FAST_CODE NOINLINE writeMotors(void)
}
}
else {
if (motor[i] < motorConfig()->minthrottle) { // motor disarmed
if (motor[i] < throttleIdleValue) { // motor disarmed
motorValue = DSHOT_DISARM_COMMAND;
}
else {
motorValue = scaleRangef(motor[i], motorConfig()->minthrottle, motorConfig()->maxthrottle, (dshotMinThrottleOffset + DSHOT_MIN_THROTTLE), DSHOT_MAX_THROTTLE);
motorValue = scaleRangef(motor[i], throttleIdleValue, motorConfig()->maxthrottle, (dshotMinThrottleOffset + DSHOT_MIN_THROTTLE), DSHOT_MAX_THROTTLE);
motorValue = constrain(motorValue, (dshotMinThrottleOffset + DSHOT_MIN_THROTTLE), DSHOT_MAX_THROTTLE);
}
}
@ -337,7 +344,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
// Find min and max throttle based on condition.
#ifdef USE_GLOBAL_FUNCTIONS
if (GLOBAL_FUNCTION_FLAG(GLOBAL_FUNCTION_FLAG_OVERRIDE_THROTTLE)) {
throttleMin = motorConfig()->minthrottle;
throttleMin = throttleIdleValue;
throttleMax = motorConfig()->maxthrottle;
mixerThrottleCommand = constrain(globalFunctionValues[GLOBAL_FUNCTION_ACTION_OVERRIDE_THROTTLE], throttleMin, throttleMax);
} else
@ -347,7 +354,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
if ((rcCommand[THROTTLE] <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig()->deadband3d_low;
throttleMin = motorConfig()->minthrottle;
throttleMin = throttleIdleValue;
throttlePrevious = mixerThrottleCommand = rcCommand[THROTTLE];
} else if (rcCommand[THROTTLE] >= (PWM_RANGE_MIDDLE + rcControlsConfig()->deadband3d_throttle)) { // Positive handling
throttleMax = motorConfig()->maxthrottle;
@ -355,14 +362,14 @@ void FAST_CODE NOINLINE mixTable(const float dT)
throttlePrevious = mixerThrottleCommand = rcCommand[THROTTLE];
} else if ((throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle))) { // Deadband handling from negative to positive
mixerThrottleCommand = throttleMax = flight3DConfig()->deadband3d_low;
throttleMin = motorConfig()->minthrottle;
throttleMin = throttleIdleValue;
} else { // Deadband handling from positive to negative
throttleMax = motorConfig()->maxthrottle;
mixerThrottleCommand = throttleMin = flight3DConfig()->deadband3d_high;
}
} else {
mixerThrottleCommand = rcCommand[THROTTLE];
throttleMin = motorConfig()->minthrottle;
throttleMin = throttleIdleValue;
throttleMax = motorConfig()->maxthrottle;
// Throttle scaling to limit max throttle when battery is full
@ -404,12 +411,12 @@ void FAST_CODE NOINLINE mixTable(const float dT)
motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
} else if (feature(FEATURE_3D)) {
if (throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle)) {
motor[i] = constrain(motor[i], motorConfig()->minthrottle, flight3DConfig()->deadband3d_low);
motor[i] = constrain(motor[i], throttleIdleValue, flight3DConfig()->deadband3d_low);
} else {
motor[i] = constrain(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle);
}
} else {
motor[i] = constrain(motor[i], motorConfig()->minthrottle, motorConfig()->maxthrottle);
motor[i] = constrain(motor[i], throttleIdleValue, motorConfig()->maxthrottle);
}
// Motor stop handling
@ -417,7 +424,7 @@ void FAST_CODE NOINLINE mixTable(const float dT)
if (feature(FEATURE_MOTOR_STOP)) {
motor[i] = (feature(FEATURE_3D) ? PWM_RANGE_MIDDLE : motorConfig()->mincommand);
} else {
motor[i] = motorConfig()->minthrottle;
motor[i] = throttleIdleValue;
}
}
}

3
src/main/flight/mixer.h
View file

@ -83,7 +83,6 @@ PG_DECLARE(flight3DConfig_t, flight3DConfig);
typedef struct motorConfig_s {
// PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
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)
@ -91,6 +90,7 @@ typedef struct motorConfig_s {
uint16_t motorAccelTimeMs; // Time limit for motor to accelerate from 0 to 100% throttle [ms]
uint16_t motorDecelTimeMs; // Time limit for motor to decelerate from 0 to 100% throttle [ms]
uint16_t digitalIdleOffsetValue;
float throttleIdle; // Throttle IDLE value based on min_command, max_throttle, in percent
float throttleScale; // Scaling factor for throttle.
uint8_t motorPoleCount; // Magnetic poles in the motors for calculating actual RPM from eRPM provided by ESC telemetry
} motorConfig_t;
@ -107,6 +107,7 @@ extern int16_t motor[MAX_SUPPORTED_MOTORS];
extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
extern int mixerThrottleCommand;
int getThrottleIdleValue(void);
uint8_t getMotorCount(void);
float getMotorMixRange(void);
bool mixerIsOutputSaturated(void);

8
src/main/flight/pid.c
View file

@ -322,7 +322,7 @@ void pidResetTPAFilter(void)
{
if (usedPidControllerType == PID_TYPE_PIFF && currentControlRateProfile->throttle.fixedWingTauMs > 0) {
pt1FilterInitRC(&fixedWingTpaFilter, currentControlRateProfile->throttle.fixedWingTauMs * 1e-3f, getLooptime() * 1e-6f);
pt1FilterReset(&fixedWingTpaFilter, motorConfig()->minthrottle);
pt1FilterReset(&fixedWingTpaFilter, getThrottleIdleValue());
}
}
@ -370,10 +370,10 @@ static float calculateFixedWingTPAFactor(uint16_t throttle)
// tpa_rate is amount of curve TPA applied to PIDs
// tpa_breakpoint for fixed wing is cruise throttle value (value at which PIDs were tuned)
if (currentControlRateProfile->throttle.dynPID != 0 && currentControlRateProfile->throttle.pa_breakpoint > motorConfig()->minthrottle) {
if (throttle > motorConfig()->minthrottle) {
if (currentControlRateProfile->throttle.dynPID != 0 && currentControlRateProfile->throttle.pa_breakpoint > getThrottleIdleValue()) {
if (throttle > getThrottleIdleValue()) {
// Calculate TPA according to throttle
tpaFactor = 0.5f + ((float)(currentControlRateProfile->throttle.pa_breakpoint - motorConfig()->minthrottle) / (throttle - motorConfig()->minthrottle) / 2.0f);
tpaFactor = 0.5f + ((float)(currentControlRateProfile->throttle.pa_breakpoint - getThrottleIdleValue()) / (throttle - getThrottleIdleValue()) / 2.0f);
// Limit to [0.5; 2] range
tpaFactor = constrainf(tpaFactor, 0.5f, 2.0f);

2
src/main/flight/rth_estimator.c
View file

@ -79,7 +79,7 @@ static int8_t RTHInitialAltitudeChangePitchAngle(float altitudeChange) {
static float estimatePitchPower(float pitch) {
int16_t altitudeChangeThrottle = fixedWingPitchToThrottleCorrection(DEGREES_TO_DECIDEGREES(pitch));
altitudeChangeThrottle = constrain(altitudeChangeThrottle, navConfig()->fw.min_throttle, navConfig()->fw.max_throttle);
const float altitudeChangeThrToCruiseThrRatio = (float)(altitudeChangeThrottle - motorConfig()->minthrottle) / (navConfig()->fw.cruise_throttle - motorConfig()->minthrottle);
const float altitudeChangeThrToCruiseThrRatio = (float)(altitudeChangeThrottle - getThrottleIdleValue()) / (navConfig()->fw.cruise_throttle - getThrottleIdleValue());
return (float)heatLossesCompensatedPower(batteryMetersConfig()->idle_power + batteryMetersConfig()->cruise_power * altitudeChangeThrToCruiseThrRatio) / 100;
}

4
src/main/navigation/navigation_fixedwing.c
View file

@ -484,7 +484,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
isAutoThrottleManuallyIncreased = false;
}
rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain(correctedThrottleValue, getThrottleIdleValue(), motorConfig()->maxthrottle);
}
#ifdef NAV_FIXED_WING_LANDING
@ -497,7 +497,7 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
((posControl.flags.estAglStatus == EST_TRUSTED) && (posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) ) {
// Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
rcCommand[THROTTLE] = motorConfig()->minthrottle;
rcCommand[THROTTLE] = getThrottleIdleValue();
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
// Stabilize ROLL axis on 0 degrees banking regardless of loiter radius and position

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

@ -138,10 +138,10 @@ static void applyFixedWingLaunchIdleLogic(void)
pidResetTPAFilter();
// Throttle control logic
if (navConfig()->fw.launch_idle_throttle <= motorConfig()->minthrottle)
if (navConfig()->fw.launch_idle_throttle <= getThrottleIdleValue())
{
ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE); // If MOTOR_STOP is enabled mixer will keep motor stopped
rcCommand[THROTTLE] = motorConfig()->minthrottle; // If MOTOR_STOP is disabled, motors will spin at minthrottle
rcCommand[THROTTLE] = getThrottleIdleValue(); // If MOTOR_STOP is disabled, motors will spin at minthrottle
}
else
{
@ -155,7 +155,7 @@ static void applyFixedWingLaunchIdleLogic(void)
const float timeSinceMotorStartMs = MIN(millis() - timeThrottleRaisedMs, LAUNCH_MOTOR_IDLE_SPINUP_TIME);
rcCommand[THROTTLE] = scaleRangef(timeSinceMotorStartMs,
0.0f, LAUNCH_MOTOR_IDLE_SPINUP_TIME,
motorConfig()->minthrottle, navConfig()->fw.launch_idle_throttle);
getThrottleIdleValue(), navConfig()->fw.launch_idle_throttle);
}
}
}
@ -200,7 +200,7 @@ void applyFixedWingLaunchController(timeUs_t currentTimeUs)
// Increase throttle gradually over `launch_motor_spinup_time` milliseconds
if (navConfig()->fw.launch_motor_spinup_time > 0) {
const float timeSinceMotorStartMs = constrainf(timeElapsedSinceLaunchMs - navConfig()->fw.launch_motor_timer, 0.0f, navConfig()->fw.launch_motor_spinup_time);
const uint16_t minIdleThrottle = MAX(motorConfig()->minthrottle, navConfig()->fw.launch_idle_throttle);
const uint16_t minIdleThrottle = MAX(getThrottleIdleValue(), navConfig()->fw.launch_idle_throttle);
rcCommand[THROTTLE] = scaleRangef(timeSinceMotorStartMs,
0.0f, navConfig()->fw.launch_motor_spinup_time,
minIdleThrottle, navConfig()->fw.launch_throttle);

14
src/main/navigation/navigation_multicopter.c
View file

@ -104,7 +104,7 @@ static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
{
// Calculate min and max throttle boundaries (to compensate for integral windup)
const int16_t thrAdjustmentMin = (int16_t)motorConfig()->minthrottle - (int16_t)navConfig()->mc.hover_throttle;
const int16_t thrAdjustmentMin = (int16_t)getThrottleIdleValue() - (int16_t)navConfig()->mc.hover_throttle;
const int16_t thrAdjustmentMax = (int16_t)motorConfig()->maxthrottle - (int16_t)navConfig()->mc.hover_throttle;
posControl.rcAdjustment[THROTTLE] = navPidApply2(&posControl.pids.vel[Z], posControl.desiredState.vel.z, navGetCurrentActualPositionAndVelocity()->vel.z, US2S(deltaMicros), thrAdjustmentMin, thrAdjustmentMax, 0);
@ -116,7 +116,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
bool adjustMulticopterAltitudeFromRCInput(void)
{
if (posControl.flags.isTerrainFollowEnabled) {
const float altTarget = scaleRangef(rcCommand[THROTTLE], motorConfig()->minthrottle, motorConfig()->maxthrottle, 0, navConfig()->general.max_terrain_follow_altitude);
const float altTarget = scaleRangef(rcCommand[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle, 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) {
@ -144,7 +144,7 @@ bool adjustMulticopterAltitudeFromRCInput(void)
}
else {
// Scaling from minthrottle to altHoldThrottleRCZero
rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(altHoldThrottleRCZero - motorConfig()->minthrottle - rcControlsConfig()->alt_hold_deadband);
rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(altHoldThrottleRCZero - getThrottleIdleValue() - rcControlsConfig()->alt_hold_deadband);
}
updateClimbRateToAltitudeController(rcClimbRate, ROC_TO_ALT_NORMAL);
@ -181,7 +181,7 @@ void setupMulticopterAltitudeController(void)
// Make sure we are able to satisfy the deadband
altHoldThrottleRCZero = constrain(altHoldThrottleRCZero,
motorConfig()->minthrottle + rcControlsConfig()->alt_hold_deadband + 10,
getThrottleIdleValue() + rcControlsConfig()->alt_hold_deadband + 10,
motorConfig()->maxthrottle - rcControlsConfig()->alt_hold_deadband - 10);
// Force AH controller to initialize althold integral for pending takeoff on reset
@ -249,7 +249,7 @@ static void applyMulticopterAltitudeController(timeUs_t currentTimeUs)
}
// Update throttle controller
rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], motorConfig()->minthrottle, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle);
// Save processed throttle for future use
rcCommandAdjustedThrottle = rcCommand[THROTTLE];
@ -721,12 +721,12 @@ static void applyMulticopterEmergencyLandingController(timeUs_t currentTimeUs)
}
// Update throttle controller
rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], motorConfig()->minthrottle, motorConfig()->maxthrottle);
rcCommand[THROTTLE] = constrain((int16_t)navConfig()->mc.hover_throttle + posControl.rcAdjustment[THROTTLE], getThrottleIdleValue(), motorConfig()->maxthrottle);
}
else {
/* Sensors has gone haywire, attempt to land regardless */
if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_DROP_IT) {
rcCommand[THROTTLE] = motorConfig()->minthrottle;
rcCommand[THROTTLE] = getThrottleIdleValue();
}
else {
rcCommand[THROTTLE] = failsafeConfig()->failsafe_throttle;

1
src/main/target/ALIENFLIGHTF3/config.c
View file

@ -57,7 +57,6 @@ void targetConfiguration(void)
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfigMutable()->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->minthrottle = 1000;
}
pidProfileMutable()->bank_mc.pid[ROLL].P = 36;

1
src/main/target/ALIENFLIGHTF4/config.c
View file

@ -63,7 +63,6 @@ void targetConfiguration(void)
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_BRUSHED;
motorConfigMutable()->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->minthrottle = 1000;
}
if (hardwareRevision == AFF4_REV_1) {
rxConfigMutable()->serialrx_provider = SERIALRX_SPEKTRUM2048;

1
src/main/target/ALIENFLIGHTNGF7/config.c
View file

@ -64,7 +64,6 @@ void targetConfiguration(void)
if (hardwareMotorType == MOTOR_BRUSHED) {
motorConfigMutable()->motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
motorConfigMutable()->minthrottle = 1000;
}
if (hardwareRevision == AFF7_REV_1) {

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

@ -37,6 +37,5 @@ void targetConfiguration(void)
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
motorConfigMutable()->motorPwmRate = 4000;
motorConfigMutable()->minthrottle = 1075;
motorConfigMutable()->maxthrottle = 1950;
}

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

@ -37,6 +37,5 @@ void targetConfiguration(void)
serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(TELEMETRY_UART)].functionMask = FUNCTION_TELEMETRY_SMARTPORT;
motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
motorConfigMutable()->motorPwmRate = 4000;
motorConfigMutable()->minthrottle = 1075;
motorConfigMutable()->maxthrottle = 1950;
}

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

@ -82,7 +82,6 @@ void targetConfiguration(void)
blackboxConfigMutable()->rate_num = 1;
blackboxConfigMutable()->rate_denom = 4;
motorConfigMutable()->minthrottle = 1015;
motorConfigMutable()->maxthrottle = 2000;
motorConfigMutable()->mincommand = 980;
motorConfigMutable()->motorPwmRate = 2000;