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Code Issues Wiki Activity

Rename settings previously responsible for reversible motors handling

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-02-19 14:52:54 +01:00
parent 7e47809c9a
commit f480bcf463
9 changed files with 50 additions and 50 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/config/parameter_group_ids.h
View file

@ -42,7 +42,7 @@
//#define PG_PROFILE_SELECTION 23
#define PG_RX_CONFIG 24
#define PG_RC_CONTROLS_CONFIG 25
#define PG_MOTOR_3D_CONFIG 26
#define PG_REVERSIBLE_MOTORS_CONFIG 26
#define PG_LED_STRIP_CONFIG 27
//#define PG_COLOR_CONFIG 28
//#define PG_AIRPLANE_ALT_HOLD_CONFIG 29

16
src/main/fc/fc_msp.c
View file

@ -1110,16 +1110,16 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
break;
case MSP_3D:
sbufWriteU16(dst, flight3DConfig()->deadband3d_low);
sbufWriteU16(dst, flight3DConfig()->deadband3d_high);
sbufWriteU16(dst, flight3DConfig()->neutral3d);
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_low);
sbufWriteU16(dst, reversibleMotorsConfig()->deadband_high);
sbufWriteU16(dst, reversibleMotorsConfig()->neutral);
break;
case MSP_RC_DEADBAND:
sbufWriteU8(dst, rcControlsConfig()->deadband);
sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
sbufWriteU8(dst, rcControlsConfig()->alt_hold_deadband);
sbufWriteU16(dst, rcControlsConfig()->deadband3d_throttle);
sbufWriteU16(dst, rcControlsConfig()->mid_throttle_deadband);
break;
case MSP_SENSOR_ALIGNMENT:
@ -1982,9 +1982,9 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_3D:
if (dataSize >= 6) {
flight3DConfigMutable()->deadband3d_low = sbufReadU16(src);
flight3DConfigMutable()->deadband3d_high = sbufReadU16(src);
flight3DConfigMutable()->neutral3d = sbufReadU16(src);
reversibleMotorsConfigMutable()->deadband_low = sbufReadU16(src);
reversibleMotorsConfigMutable()->deadband_high = sbufReadU16(src);
reversibleMotorsConfigMutable()->neutral = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
break;
@ -1994,7 +1994,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
rcControlsConfigMutable()->deadband = sbufReadU8(src);
rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
rcControlsConfigMutable()->alt_hold_deadband = sbufReadU8(src);
rcControlsConfigMutable()->deadband3d_throttle = sbufReadU16(src);
rcControlsConfigMutable()->mid_throttle_deadband = sbufReadU16(src);
} else
return MSP_RESULT_ERROR;
break;

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

@ -76,7 +76,7 @@ PG_RESET_TEMPLATE(rcControlsConfig_t, rcControlsConfig,
.yaw_deadband = 5,
.pos_hold_deadband = 20,
.alt_hold_deadband = 50,
.deadband3d_throttle = 50,
.mid_throttle_deadband = 50,
.airmodeHandlingType = STICK_CENTER,
.airmodeThrottleThreshold = AIRMODE_THROTTLE_THRESHOLD,
);
@ -101,8 +101,8 @@ bool areSticksDeflectedMoreThanPosHoldDeadband(void)
throttleStatus_e calculateThrottleStatus(void)
{
const uint16_t deadband3d_throttle = rcControlsConfig()->deadband3d_throttle;
if (feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - deadband3d_throttle) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + deadband3d_throttle)))
const uint16_t mid_throttle_deadband = rcControlsConfig()->mid_throttle_deadband;
if (feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && rxGetChannelValue(THROTTLE) < (PWM_RANGE_MIDDLE + mid_throttle_deadband)))
return THROTTLE_LOW;
else if (!feature(FEATURE_REVERSIBLE_MOTORS) && (rxGetChannelValue(THROTTLE) < rxConfig()->mincheck))
return THROTTLE_LOW;

2
src/main/fc/rc_controls.h
View file

@ -80,7 +80,7 @@ typedef struct rcControlsConfig_s {
uint8_t yaw_deadband; // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
uint8_t pos_hold_deadband; // Adds ability to adjust the Hold-position when moving the sticks (assisted mode)
uint8_t alt_hold_deadband; // Defines the neutral zone of throttle stick during altitude hold
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
uint16_t mid_throttle_deadband; // default throttle deadband from MIDRC
uint8_t airmodeHandlingType; // Defaults to ANTI_WINDUP triggered at sticks centered
uint16_t airmodeThrottleThreshold; // Throttle threshold for airmode initial activation
} rcControlsConfig_t;

12
src/main/fc/settings.yaml
View file

@ -704,19 +704,19 @@ groups:
min: 0
max: 450
- name: PG_MOTOR_3D_CONFIG
type: flight3DConfig_t
- name: PG_REVERSIBLE_MOTORS_CONFIG
type: reversibleMotorsConfig_t
members:
- name: 3d_deadband_low
field: deadband3d_low
field: deadband_low
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: 3d_deadband_high
field: deadband3d_high
field: deadband_high
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: 3d_neutral
field: neutral3d
field: neutral
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
@ -940,7 +940,7 @@ groups:
min: 10
max: 250
- name: 3d_deadband_throttle
field: deadband3d_throttle
field: mid_throttle_deadband
min: 0
max: 200
- name: mc_airmode_type

42
src/main/flight/mixer.c
View file

@ -63,12 +63,12 @@ static EXTENDED_FASTRAM uint8_t motorCount = 0;
EXTENDED_FASTRAM int mixerThrottleCommand;
static EXTENDED_FASTRAM int throttleIdleValue = 0;
PG_REGISTER_WITH_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig, PG_REVERSIBLE_MOTORS_CONFIG, 0);
PG_RESET_TEMPLATE(flight3DConfig_t, flight3DConfig,
.deadband3d_low = 1406,
.deadband3d_high = 1514,
.neutral3d = 1460
PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
.deadband_low = 1406,
.deadband_high = 1514,
.neutral = 1460
);
PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 2);
@ -250,7 +250,7 @@ void mixerResetDisarmedMotors(void)
{
// set disarmed motor values
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
motor_disarmed[i] = feature(FEATURE_REVERSIBLE_MOTORS) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
motor_disarmed[i] = feature(FEATURE_REVERSIBLE_MOTORS) ? reversibleMotorsConfig()->neutral : motorConfig()->mincommand;
}
}
@ -264,12 +264,12 @@ void FAST_CODE NOINLINE writeMotors(void)
if (isMotorProtocolDigital()) {
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
if (motor[i] >= throttleIdleValue && motor[i] <= flight3DConfig()->deadband3d_low) {
motorValue = scaleRangef(motor[i], motorConfig()->mincommand, flight3DConfig()->deadband3d_low, DSHOT_3D_DEADBAND_LOW, DSHOT_MIN_THROTTLE);
if (motor[i] >= throttleIdleValue && motor[i] <= reversibleMotorsConfig()->deadband_low) {
motorValue = scaleRangef(motor[i], motorConfig()->mincommand, reversibleMotorsConfig()->deadband_low, DSHOT_3D_DEADBAND_LOW, DSHOT_MIN_THROTTLE);
motorValue = constrain(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_DEADBAND_LOW);
}
else if (motor[i] >= flight3DConfig()->deadband3d_high && motor[i] <= motorConfig()->maxthrottle) {
motorValue = scaleRangef(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle, DSHOT_3D_DEADBAND_HIGH, DSHOT_MAX_THROTTLE);
else if (motor[i] >= reversibleMotorsConfig()->deadband_high && motor[i] <= motorConfig()->maxthrottle) {
motorValue = scaleRangef(motor[i], reversibleMotorsConfig()->deadband_high, motorConfig()->maxthrottle, DSHOT_3D_DEADBAND_HIGH, DSHOT_MAX_THROTTLE);
motorValue = constrain(motorValue, DSHOT_3D_DEADBAND_HIGH, DSHOT_MAX_THROTTLE);
}
else {
@ -309,7 +309,7 @@ void writeAllMotors(int16_t mc)
void stopMotors(void)
{
writeAllMotors(feature(FEATURE_REVERSIBLE_MOTORS) ? flight3DConfig()->neutral3d : motorConfig()->mincommand);
writeAllMotors(feature(FEATURE_REVERSIBLE_MOTORS) ? reversibleMotorsConfig()->neutral : motorConfig()->mincommand);
delay(50); // give the timers and ESCs a chance to react.
}
@ -367,20 +367,20 @@ void FAST_CODE NOINLINE mixTable(const float dT)
if (feature(FEATURE_REVERSIBLE_MOTORS)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = PWM_RANGE_MIDDLE; // When disarmed set to mid_rc. It always results in positive direction after arming.
if ((rcCommand[THROTTLE] <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle))) { // Out of band handling
throttleMax = flight3DConfig()->deadband3d_low;
if ((rcCommand[THROTTLE] <= (PWM_RANGE_MIDDLE - rcControlsConfig()->mid_throttle_deadband))) { // Out of band handling
throttleMax = reversibleMotorsConfig()->deadband_low;
throttleMin = throttleIdleValue;
throttlePrevious = mixerThrottleCommand = rcCommand[THROTTLE];
} else if (rcCommand[THROTTLE] >= (PWM_RANGE_MIDDLE + rcControlsConfig()->deadband3d_throttle)) { // Positive handling
} else if (rcCommand[THROTTLE] >= (PWM_RANGE_MIDDLE + rcControlsConfig()->mid_throttle_deadband)) { // Positive handling
throttleMax = motorConfig()->maxthrottle;
throttleMin = flight3DConfig()->deadband3d_high;
throttleMin = reversibleMotorsConfig()->deadband_high;
throttlePrevious = mixerThrottleCommand = rcCommand[THROTTLE];
} else if ((throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle))) { // Deadband handling from negative to positive
mixerThrottleCommand = throttleMax = flight3DConfig()->deadband3d_low;
} else if ((throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->mid_throttle_deadband))) { // Deadband handling from negative to positive
mixerThrottleCommand = throttleMax = reversibleMotorsConfig()->deadband_low;
throttleMin = throttleIdleValue;
} else { // Deadband handling from positive to negative
throttleMax = motorConfig()->maxthrottle;
mixerThrottleCommand = throttleMin = flight3DConfig()->deadband3d_high;
mixerThrottleCommand = throttleMin = reversibleMotorsConfig()->deadband_high;
}
} else {
mixerThrottleCommand = rcCommand[THROTTLE];
@ -425,10 +425,10 @@ void FAST_CODE NOINLINE mixTable(const float dT)
if (failsafeIsActive()) {
motor[i] = constrain(motor[i], motorConfig()->mincommand, motorConfig()->maxthrottle);
} else if (feature(FEATURE_REVERSIBLE_MOTORS)) {
if (throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->deadband3d_throttle)) {
motor[i] = constrain(motor[i], throttleIdleValue, flight3DConfig()->deadband3d_low);
if (throttlePrevious <= (PWM_RANGE_MIDDLE - rcControlsConfig()->mid_throttle_deadband)) {
motor[i] = constrain(motor[i], throttleIdleValue, reversibleMotorsConfig()->deadband_low);
} else {
motor[i] = constrain(motor[i], flight3DConfig()->deadband3d_high, motorConfig()->maxthrottle);
motor[i] = constrain(motor[i], reversibleMotorsConfig()->deadband_high, motorConfig()->maxthrottle);
}
} else {
motor[i] = constrain(motor[i], throttleIdleValue, motorConfig()->maxthrottle);

12
src/main/flight/mixer.h
View file

@ -72,13 +72,13 @@ typedef struct mixerConfig_s {
PG_DECLARE(mixerConfig_t, mixerConfig);
typedef struct flight3DConfig_s {
uint16_t deadband3d_low; // min 3d value
uint16_t deadband3d_high; // max 3d value
uint16_t neutral3d; // center 3d value
} flight3DConfig_t;
typedef struct reversibleMotorsConfig_s {
uint16_t deadband_low; // min 3d value
uint16_t deadband_high; // max 3d value
uint16_t neutral; // center 3d value
} reversibleMotorsConfig_t;
PG_DECLARE(flight3DConfig_t, flight3DConfig);
PG_DECLARE(reversibleMotorsConfig_t, reversibleMotorsConfig);
typedef struct motorConfig_s {
// PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)

4
src/test/unit/battery_unittest.cc.txt
View file

@ -281,10 +281,10 @@ bool feature(uint32_t mask)
return false;
}
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t mid_throttle_deadband)
{
UNUSED(*rxConfig);
UNUSED(deadband3d_throttle);
UNUSED(mid_throttle_deadband);
return THROTTLE_HIGH;
}

4
src/test/unit/flight_failsafe_unittest.cc.txt
View file

@ -420,10 +420,10 @@ uint32_t millis(void)
return sysTickUptime;
}
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t mid_throttle_deadband)
{
UNUSED(rxConfig);
UNUSED(deadband3d_throttle);
UNUSED(mid_throttle_deadband);
return throttleStatus;
}