Merge pull request #1705 from betaflight/3d_fixes
3D Mode Fix // Dshot 3D Mode implementation
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84b79b1789
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@ -236,8 +236,8 @@ const mixer_t mixers[] = {
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static motorMixer_t *customMixers;
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static uint16_t disarmMotorOutput, minMotorOutputNormal, maxMotorOutputNormal, deadbandMotor3dHigh, deadbandMotor3dLow;
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static float rcCommandThrottleRange;
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static uint16_t disarmMotorOutput, motorOutputHigh, motorOutputLow, deadbandMotor3dHigh, deadbandMotor3dLow;
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static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
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uint8_t getMotorCount() {
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return motorCount;
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@ -257,21 +257,26 @@ void initEscEndpoints(void) {
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#ifdef USE_DSHOT
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if (isMotorProtocolDshot()) {
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disarmMotorOutput = DSHOT_DISARM_COMMAND;
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minMotorOutputNormal = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig->digitalIdleOffsetPercent);
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maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
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if (feature(FEATURE_3D))
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig->digitalIdleOffsetPercent);
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else
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motorOutputLow = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig->digitalIdleOffsetPercent);
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motorOutputHigh = DSHOT_MAX_THROTTLE;
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deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * motorConfig->digitalIdleOffsetPercent); // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
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} else
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#endif
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{
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disarmMotorOutput = (feature(FEATURE_3D)) ? flight3DConfig->neutral3d : motorConfig->mincommand;
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minMotorOutputNormal = motorConfig->minthrottle;
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maxMotorOutputNormal = motorConfig->maxthrottle;
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motorOutputLow = motorConfig->minthrottle;
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motorOutputHigh = motorConfig->maxthrottle;
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deadbandMotor3dHigh = flight3DConfig->deadband3d_high;
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deadbandMotor3dLow = flight3DConfig->deadband3d_low;
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}
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rcCommandThrottleRange = (2000 - rxConfig->mincheck);
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rcCommandThrottleRange = (PWM_RANGE_MAX - rxConfig->mincheck);
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rcCommandThrottleRange3dLow = rxConfig->midrc - rxConfig->mincheck - flight3DConfig->deadband3d_throttle;
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rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rxConfig->midrc - flight3DConfig->deadband3d_throttle;
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}
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void mixerUseConfigs(
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@ -286,7 +291,6 @@ void mixerUseConfigs(
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mixerConfig = mixerConfigToUse;
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airplaneConfig = airplaneConfigToUse;
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rxConfig = rxConfigToUse;
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initEscEndpoints();
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}
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void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
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@ -294,6 +298,8 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
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currentMixerMode = mixerMode;
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customMixers = initialCustomMixers;
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initEscEndpoints();
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}
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#ifndef USE_QUAD_MIXER_ONLY
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@ -412,11 +418,11 @@ void mixTable(pidProfile_t *pidProfile)
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// Scale roll/pitch/yaw uniformly to fit within throttle range
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// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
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float motorMix[MAX_SUPPORTED_MOTORS], motorMixMax = 0, motorMixMin = 0;
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float throttleRange = 0, throttle = 0;
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float motorOutputRange, motorMixRange;
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float motorMix[MAX_SUPPORTED_MOTORS];
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float motorOutputRange = 0, throttle = 0, currentThrottleInputRange = 0, motorMixRange = 0, motorMixMax = 0, motorMixMin = 0;
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uint16_t motorOutputMin, motorOutputMax;
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static uint16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
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bool mixerInversion = false;
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// Find min and max throttle based on condition.
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if (feature(FEATURE_3D)) {
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@ -424,30 +430,38 @@ void mixTable(pidProfile_t *pidProfile)
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if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
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motorOutputMax = deadbandMotor3dLow;
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motorOutputMin = minMotorOutputNormal;
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motorOutputMin = motorOutputLow;
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throttlePrevious = rcCommand[THROTTLE];
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throttle = rcCommand[THROTTLE] + flight3DConfig->deadband3d_throttle;
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throttle = rcCommand[THROTTLE] - rxConfig->mincheck;
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currentThrottleInputRange = rcCommandThrottleRange3dLow;
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if(isMotorProtocolDshot()) mixerInversion = true;
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} else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
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motorOutputMax = maxMotorOutputNormal;
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motorOutputMax = motorOutputHigh;
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motorOutputMin = deadbandMotor3dHigh;
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throttlePrevious = rcCommand[THROTTLE];
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throttle = rcCommand[THROTTLE] - flight3DConfig->deadband3d_throttle;
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throttle = rcCommand[THROTTLE] - rxConfig->midrc - flight3DConfig->deadband3d_throttle;
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currentThrottleInputRange = rcCommandThrottleRange3dHigh;
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} else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Deadband handling from negative to positive
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throttle = deadbandMotor3dLow;
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motorOutputMin = motorOutputMax = minMotorOutputNormal;
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motorOutputMax = deadbandMotor3dLow;
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motorOutputMin = motorOutputLow;
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throttle = rxConfig->midrc - flight3DConfig->deadband3d_throttle;
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currentThrottleInputRange = rcCommandThrottleRange3dLow;
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if(isMotorProtocolDshot()) mixerInversion = true;
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} else { // Deadband handling from positive to negative
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motorOutputMax = maxMotorOutputNormal;
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throttle = motorOutputMin = deadbandMotor3dHigh;
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motorOutputMax = motorOutputHigh;
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motorOutputMin = deadbandMotor3dHigh;
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throttle = 0;
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currentThrottleInputRange = rcCommandThrottleRange3dHigh;
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}
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} else {
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throttle = rcCommand[THROTTLE];
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motorOutputMin = minMotorOutputNormal;
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motorOutputMax = maxMotorOutputNormal;
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throttle = rcCommand[THROTTLE] - rxConfig->mincheck;
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currentThrottleInputRange = rcCommandThrottleRange;
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motorOutputMin = motorOutputLow;
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motorOutputMax = motorOutputHigh;
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}
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throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f);
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motorOutputRange = motorOutputMax - motorOutputMin;
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throttle = constrainf((throttle - rxConfig->mincheck) / rcCommandThrottleRange, 0.0f, 1.0f);
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throttleRange = motorOutputMax - motorOutputMin;
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float scaledAxisPIDf[3];
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// Limit the PIDsum
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@ -486,7 +500,12 @@ void mixTable(pidProfile_t *pidProfile)
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// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
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// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
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for (i = 0; i < motorCount; i++) {
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motor[i] = lrintf( motorOutputMin + (motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle))) );
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motor[i] = motorOutputMin + lrintf(motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle)));
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// Dshot works exactly opposite in lower 3D section.
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if (mixerInversion) {
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motor[i] = motorOutputMin + (motorOutputMax - motor[i]);
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}
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if (failsafeIsActive()) {
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if (isMotorProtocolDshot())
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@ -510,7 +529,7 @@ void mixTable(pidProfile_t *pidProfile)
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const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
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// Only makes sense when it's within the range
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if (maxThrottleStep < throttleRange) {
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if (maxThrottleStep < motorOutputRange) {
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static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
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motor[i] = constrain(motor[i], motorOutputMin, motorPrevious[i] + maxThrottleStep); // Only limit accelerating situation
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@ -43,8 +43,8 @@
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#define DSHOT_DISARM_COMMAND 0
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#define DSHOT_MIN_THROTTLE 48
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#define DSHOT_MAX_THROTTLE 2047
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#define DSHOT_3D_DEADBAND_LOW 1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
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#define DSHOT_3D_DEADBAND_HIGH 1048// TODO - Not working yet!! Mixer requires some throttle rescaling changes
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#define DSHOT_3D_DEADBAND_LOW 1047
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#define DSHOT_3D_DEADBAND_HIGH 1048
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// Note: this is called MultiType/MULTITYPE_* in baseflight.
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typedef enum mixerMode
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