Retain dynamic idle settings, reduce dependencies

src/main/config/config.c

@@ -522,14 +522,6 @@ static void validateAndFixConfig(void)
     if ((!configuredMotorProtocolDshot || (motorConfig()->dev.useDshotBitbang == DSHOT_BITBANG_OFF && (motorConfig()->dev.useBurstDshot == DSHOT_DMAR_ON || nChannelTimerUsed)) || systemConfig()->schedulerOptimizeRate == SCHEDULER_OPTIMIZE_RATE_OFF) && motorConfig()->dev.useDshotTelemetry) {
         motorConfigMutable()->dev.useDshotTelemetry = false;
     }
-
-#if defined(USE_DYN_IDLE)
-    if (!isRpmFilterEnabled()) {
-        for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
-            pidProfilesMutable(i)->dyn_idle_min_rpm = 0;
-        }
-    }
-#endif // USE_DYN_IDLE
 #endif // USE_DSHOT_TELEMETRY
 #endif // USE_DSHOT
 

src/main/flight/mixer.c

@@ -105,7 +105,6 @@ static FAST_DATA_ZERO_INIT float motorRangeMax;
 static FAST_DATA_ZERO_INIT float motorOutputRange;
 static FAST_DATA_ZERO_INIT int8_t motorOutputMixSign;
 
-
 static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
 {
     static uint16_t rcThrottlePrevious = 0;   // Store the last throttle direction for deadband transitions
@@ -220,7 +219,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
 
 #ifdef USE_DYN_IDLE
         if (mixerRuntime.dynIdleMinRps > 0.0f) {
-            const float maxIncrease = isAirmodeActivated() ? mixerRuntime.dynIdleMaxIncrease : 0.04f;
+            const float maxIncrease = isAirmodeActivated() ? mixerRuntime.dynIdleMaxIncrease : 0.05f;
             float minRps = rpmMinMotorFrequency();
             DEBUG_SET(DEBUG_DYN_IDLE, 3, (minRps * 10));
             float rpsError = mixerRuntime.dynIdleMinRps - minRps;
@@ -233,7 +232,6 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
             mixerRuntime.dynIdleI += rpsError * mixerRuntime.dynIdleIGain;
             mixerRuntime.dynIdleI = constrainf(mixerRuntime.dynIdleI, 0.0f, maxIncrease);
             motorRangeMinIncrease = constrainf((dynIdleP + mixerRuntime.dynIdleI + dynIdleD), 0.0f, maxIncrease);
-
             DEBUG_SET(DEBUG_DYN_IDLE, 0, (MAX(-1000.0f, dynIdleP * 10000)));
             DEBUG_SET(DEBUG_DYN_IDLE, 1, (mixerRuntime.dynIdleI * 10000));
             DEBUG_SET(DEBUG_DYN_IDLE, 2, (dynIdleD * 10000));
@@ -537,9 +535,9 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
     mixerThrottle = throttle;
 
 #ifdef USE_DYN_IDLE
-    // Apply digital idle throttle offset when stick is at zero after all other adjustments are complete
+    // Set min throttle offset of 1% when stick is at zero and dynamic idle is active
     if (mixerRuntime.dynIdleMinRps > 0.0f) {
-        throttle = MAX(throttle, mixerRuntime.idleThrottleOffset);
+        throttle = MAX(throttle, 0.01f);
     }
 #endif
 

src/main/flight/mixer_init.c

@@ -288,11 +288,7 @@ void initEscEndpoints(void)
     if (currentPidProfile->motor_output_limit < 100) {
         motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
     }
-
     motorInitEndpoints(motorConfig(), motorOutputLimit, &mixerRuntime.motorOutputLow, &mixerRuntime.motorOutputHigh, &mixerRuntime.disarmMotorOutput, &mixerRuntime.deadbandMotor3dHigh, &mixerRuntime.deadbandMotor3dLow);
-    if (!mixerRuntime.feature3dEnabled && currentPidProfile->dyn_idle_min_rpm) {
-        mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE;
-    }
 }
 
 // Initialize pidProfile related mixer settings
@@ -300,12 +296,23 @@ void initEscEndpoints(void)
 void mixerInitProfile(void)
 {
 #ifdef USE_DYN_IDLE
+    if (motorConfigMutable()->dev.useDshotTelemetry) {
         mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
+    } else {
+        mixerRuntime.dynIdleMinRps = 0.0f;
+    }
     mixerRuntime.dynIdlePGain = currentPidProfile->dyn_idle_p_gain * 0.00015f;
     mixerRuntime.dynIdleIGain = currentPidProfile->dyn_idle_i_gain * 0.01f * pidGetDT();
     mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency();
     mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
     mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors
+    if (!mixerRuntime.feature3dEnabled ) {
+        if (mixerRuntime.dynIdleMinRps) {
+            mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE;
+        } else {
+            mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE + mixerRuntime.idleThrottleOffset * DSHOT_RANGE;
+        }
+    }
 #endif
 
 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)

src/main/flight/rpm_filter.c

@@ -166,10 +166,6 @@ float rpmFilterGyro(const int axis, float value)
 
 FAST_CODE_NOINLINE void rpmFilterUpdate(void)
 {
-    if (gyroFilter == NULL) {
-        return;
-    }
-
     for (int motor = 0; motor < getMotorCount(); motor++) {
         filteredMotorErpm[motor] = pt1FilterApply(&rpmFilters[motor], getDshotTelemetry(motor));
         if (motor < 4) {
@@ -178,6 +174,11 @@ FAST_CODE_NOINLINE void rpmFilterUpdate(void)
         motorFrequency[motor] = erpmToHz * filteredMotorErpm[motor];
     }
 
+    if (gyroFilter == NULL) {
+        minMotorFrequency = 0.0f;
+        return;
+    }
+
     for (int i = 0; i < filterUpdatesPerIteration; i++) {
 
         float frequency = constrainf(
@@ -230,7 +231,7 @@ bool isRpmFilterEnabled(void)
 float rpmMinMotorFrequency(void)
 {
     if (minMotorFrequency == 0.0f) {
-        minMotorFrequency = 10000.0f;
+        minMotorFrequency = 10000.0f; // max RPM reported in Hz = 600,000RPM
         for (int i = getMotorCount(); i--;) {
             if (motorFrequency[i] < minMotorFrequency) {
                 minMotorFrequency = motorFrequency[i];
@@ -240,5 +241,4 @@ float rpmMinMotorFrequency(void)
     return minMotorFrequency;
 }
 
-
 #endif

src/main/msp/msp.c

@@ -2846,6 +2846,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
 #endif
         }
         pidInitConfig(currentPidProfile);
+        mixerInitProfile();
 
         break;
     case MSP_SET_SENSOR_CONFIG: