Merge pull request #10106 from mikeller/fix_motor_output_limit_low

Fixed motorOutputLimitLow in blackbox and OSD.

src/main/blackbox/blackbox.c

@@ -637,7 +637,7 @@ static void writeIntraframe(void)
 
     if (isFieldEnabled(FIELD_SELECT(MOTOR))) {
         //Motors can be below minimum output when disarmed, but that doesn't happen much
-        blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
+        blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - getMotorOutputLow());
 
         //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();
@@ -1262,8 +1262,8 @@ STATIC_UNIT_TESTED char *blackboxGetStartDateTime(char *buf)
 static bool blackboxWriteSysinfo(void)
 {
 #ifndef UNIT_TEST
-    const uint16_t motorOutputLowInt = lrintf(motorOutputLow);
+    const uint16_t motorOutputLowInt = lrintf(getMotorOutputLow());
-    const uint16_t motorOutputHighInt = lrintf(motorOutputHigh);
+    const uint16_t motorOutputHighInt = lrintf(getMotorOutputHigh());
 
     // Make sure we have enough room in the buffer for our longest line (as of this writing, the "Firmware date" line)
     if (blackboxDeviceReserveBufferSpace(64) != BLACKBOX_RESERVE_SUCCESS) {
@@ -1292,7 +1292,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d",                     motorConfig()->minthrottle);
         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",                  motorOutputLowInt,motorOutputHighInt);
+        BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d",                  motorOutputLowInt, motorOutputHighInt);
 #if defined(USE_ACC)
         BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u",                          acc.dev.acc_1G);
 #endif

src/main/flight/mixer.c

@@ -284,7 +284,9 @@ const mixer_t mixers[] = {
 };
 #endif // !USE_QUAD_MIXER_ONLY
 
-FAST_DATA_ZERO_INIT float motorOutputHigh, motorOutputLow;
+static FAST_DATA_ZERO_INIT bool feature3dEnabled;
+static FAST_DATA_ZERO_INIT float motorOutputLow;
+static FAST_DATA_ZERO_INIT float motorOutputHigh;
 
 static FAST_DATA_ZERO_INIT float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
 static FAST_DATA_ZERO_INIT float rcCommandThrottleRange;
@@ -346,6 +348,9 @@ void initEscEndpoints(void)
     }
 
     motorInitEndpoints(motorConfig(), motorOutputLimit, &motorOutputLow, &motorOutputHigh, &disarmMotorOutput, &deadbandMotor3dHigh, &deadbandMotor3dLow);
+    if (!feature3dEnabled && currentPidProfile->idle_min_rpm) {
+        motorOutputLow = DSHOT_MIN_THROTTLE;
+    }
 
     rcCommandThrottleRange = PWM_RANGE_MAX - PWM_RANGE_MIN;
 }
@@ -377,6 +382,8 @@ void mixerInit(mixerMode_e mixerMode)
 {
     currentMixerMode = mixerMode;
 
+    feature3dEnabled = featureIsEnabled(FEATURE_3D);
+
     initEscEndpoints();
 #ifdef USE_SERVOS
     if (mixerIsTricopter()) {
@@ -512,9 +519,9 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
     static uint16_t rcThrottlePrevious = 0;   // Store the last throttle direction for deadband transitions
     static timeUs_t reversalTimeUs = 0; // time when motors last reversed in 3D mode
     static float motorRangeMinIncrease = 0;
-    float currentThrottleInputRange = 0;
 
-    if (featureIsEnabled(FEATURE_3D)) {
+    float currentThrottleInputRange = 0;
+    if (feature3dEnabled) {
         uint16_t rcCommand3dDeadBandLow;
         uint16_t rcCommand3dDeadBandHigh;
 
@@ -617,10 +624,8 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
         }
     } else {
         throttle = rcCommand[THROTTLE] - PWM_RANGE_MIN + throttleAngleCorrection;
-        float appliedMotorOutputLow = motorOutputLow;
 #ifdef USE_DYN_IDLE
         if (idleMinMotorRps > 0.0f) {
-            appliedMotorOutputLow = DSHOT_MIN_THROTTLE;
             const float maxIncrease = isAirmodeActivated() ? idleMaxIncrease : 0.04f;
             const float minRps = rpmMinMotorFrequency();
             const float targetRpsChangeRate = (idleMinMotorRps - minRps) * currentPidProfile->idle_adjustment_speed;
@@ -656,7 +661,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
 #endif
 
         currentThrottleInputRange = rcCommandThrottleRange;
-        motorRangeMin = appliedMotorOutputLow + motorRangeMinIncrease * (motorOutputHigh - appliedMotorOutputLow);
+        motorRangeMin = motorOutputLow + motorRangeMinIncrease * (motorOutputHigh - motorOutputLow);
         motorOutputMin = motorRangeMin;
         motorOutputRange = motorRangeMax - motorRangeMin;
         motorOutputMixSign = 1;
@@ -963,7 +968,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
 
     if (featureIsEnabled(FEATURE_MOTOR_STOP)
         && ARMING_FLAG(ARMED)
-        && !featureIsEnabled(FEATURE_3D)
+        && !feature3dEnabled
         && !airmodeEnabled
         && !FLIGHT_MODE(GPS_RESCUE_MODE)   // disable motor_stop while GPS Rescue is active
         && (rcData[THROTTLE] < rxConfig()->mincheck)) {
@@ -1010,3 +1015,13 @@ bool isFixedWing(void)
 {
     return mixerModeIsFixedWing(currentMixerMode);
 }
+
+float getMotorOutputLow(void)
+{
+    return motorOutputLow;
+}
+
+float getMotorOutputHigh(void)
+{
+    return motorOutputHigh;
+}

src/main/flight/mixer.h

@@ -91,7 +91,6 @@ PG_DECLARE(mixerConfig_t, mixerConfig);
 extern const mixer_t mixers[];
 extern float motor[MAX_SUPPORTED_MOTORS];
 extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
-extern float motorOutputHigh, motorOutputLow;
 struct rxConfig_s;
 
 uint8_t getMotorCount(void);
@@ -117,3 +116,6 @@ float mixerGetThrottle(void);
 mixerMode_e getMixerMode(void);
 bool mixerModeIsFixedWing(mixerMode_e mixerMode);
 bool isFixedWing(void);
+
+float getMotorOutputLow(void);
+float getMotorOutputHigh(void);

src/main/osd/osd_elements.c

@@ -1050,7 +1050,7 @@ static void osdElementMotorDiagnostics(osdElementParms_t *element)
     const bool motorsRunning = areMotorsRunning();
     for (; i < getMotorCount(); i++) {
         if (motorsRunning) {
-            element->buff[i] =  0x88 - scaleRange(motor[i], motorOutputLow, motorOutputHigh, 0, 8);
+            element->buff[i] =  0x88 - scaleRange(motor[i], getMotorOutputLow(), getMotorOutputHigh(), 0, 8);
         } else {
             element->buff[i] =  0x88;
         }

src/test/unit/blackbox_unittest.cc

@@ -352,7 +352,6 @@ int32_t GPS_home[2];
 
 gyro_t gyro;
 
-float motorOutputHigh, motorOutputLow;
 float motor_disarmed[MAX_SUPPORTED_MOTORS];
 struct pidProfile_s;
 struct pidProfile_s *currentPidProfile;
@@ -383,5 +382,6 @@ failsafePhase_e failsafePhase(void) {return FAILSAFE_IDLE;}
 bool rxAreFlightChannelsValid(void) {return false;}
 bool rxIsReceivingSignal(void) {return false;}
 bool isRssiConfigured(void) {return false;}
-
+float getMotorOutputLow(void) {return 0.0;}
+float getMotorOutputHigh(void) {return 0.0;}
 }

src/test/unit/link_quality_unittest.cc

@@ -73,8 +73,6 @@ extern "C" {
     int32_t GPS_coord[2];
     gpsSolutionData_t gpsSol;
     float motor[8];
-    float motorOutputHigh = 2047;
-    float motorOutputLow = 1000;
     acc_t acc;
     float accAverage[XYZ_AXIS_COUNT];
 
@@ -551,4 +549,8 @@ extern "C" {
     }
 
     bool isUpright(void) { return true; }
+
+    float getMotorOutputLow(void) { return 1000.0; }
+
+    float getMotorOutputHigh(void) { return 2047.0; }
 }

src/test/unit/osd_unittest.cc

@@ -78,8 +78,6 @@ extern "C" {
     int32_t GPS_coord[2];
     gpsSolutionData_t gpsSol;
     float motor[8];
-    float motorOutputHigh = 2047;
-    float motorOutputLow = 1000;
 
     linkQualitySource_e linkQualitySource;
 
@@ -1244,4 +1242,6 @@ extern "C" {
     uint32_t persistentObjectRead(persistentObjectId_e) { return 0; }
     void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
     bool isUpright(void) { return true; }
+    float getMotorOutputLow(void) { return 1000.0; }
+    float getMotorOutputHigh(void) { return 2047.0; }
 }