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Fixed Dshot idle value.

This commit is contained in:
mikeller 2017-06-27 00:04:19 +12:00
parent 582af3d515
commit 4113f9be01
1 changed files with 11 additions and 3 deletions
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14
src/main/flight/mixer.c
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@ -339,8 +339,13 @@ bool mixerIsOutputSaturated(int axis, float errorRate)
// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
// DSHOT scaling is done to the actual dshot range // DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void) { void initEscEndpoints(void) {
switch(motorConfig()->dev.motorPwmProtocol) {
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot()) { case PWM_TYPE_PROSHOT1000:
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_DISARM_COMMAND; disarmMotorOutput = DSHOT_DISARM_COMMAND;
if (feature(FEATURE_3D)) if (feature(FEATURE_3D))
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue); motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
@ -349,14 +354,17 @@ void initEscEndpoints(void) {
motorOutputHigh = DSHOT_MAX_THROTTLE; motorOutputHigh = DSHOT_MAX_THROTTLE;
deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + ((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue); // TODO - Not working yet !! Mixer requires some throttle rescaling changes deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + ((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW; deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
} else
break;
#endif #endif
{ default:
disarmMotorOutput = (feature(FEATURE_3D)) ? flight3DConfig()->neutral3d : motorConfig()->mincommand; disarmMotorOutput = (feature(FEATURE_3D)) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
motorOutputLow = motorConfig()->minthrottle; motorOutputLow = motorConfig()->minthrottle;
motorOutputHigh = motorConfig()->maxthrottle; motorOutputHigh = motorConfig()->maxthrottle;
deadbandMotor3dHigh = flight3DConfig()->deadband3d_high; deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
deadbandMotor3dLow = flight3DConfig()->deadband3d_low; deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
break;
} }
rcCommandThrottleRange = (PWM_RANGE_MAX - rxConfig()->mincheck); rcCommandThrottleRange = (PWM_RANGE_MAX - rxConfig()->mincheck);