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Merge pull request #1705 from betaflight/3d_fixes 

3D Mode Fix // Dshot 3D Mode implementation
This commit is contained in:
borisbstyle 2016-11-30 21:13:25 +01:00 committed by GitHub
parent 48c72f473e 64ad632d87
commit 84b79b1789
2 changed files with 47 additions and 28 deletions
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71
src/main/flight/mixer.c
View File

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

4
src/main/flight/mixer.h
View File

@ -43,8 +43,8 @@
#define DSHOT_DISARM_COMMAND 0
#define DSHOT_MIN_THROTTLE 48
#define DSHOT_MAX_THROTTLE 2047
#define DSHOT_3D_DEADBAND_LOW 1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
#define DSHOT_3D_DEADBAND_HIGH 1048// TODO - Not working yet!! Mixer requires some throttle rescaling changes
#define DSHOT_3D_DEADBAND_LOW 1047
#define DSHOT_3D_DEADBAND_HIGH 1048
// Note: this is called MultiType/MULTITYPE_* in baseflight.
typedef enum mixerMode