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Fixed conversion to / from external values for DShot 3D.

This commit is contained in:
mikeller 2017-02-14 21:17:11 +13:00 committed by borisbstyle
parent 1102df5d68
commit 965e48cbec
1 changed files with 17 additions and 0 deletions
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17
src/main/flight/mixer.c
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@ -54,6 +54,7 @@
#define EXTERNAL_DSHOT_CONVERSION_OFFSET 977
#define EXTERNAL_CONVERSION_MIN_VALUE 1000
#define EXTERNAL_CONVERSION_MAX_VALUE 2000
#define EXTERNAL_CONVERSION_3D_MID_VALUE 1500
static uint8_t motorCount;
static float motorMixRange;
@ -561,6 +562,14 @@ uint16_t convertExternalToMotor(uint16_t externalValue)
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
motorValue = externalValue <= EXTERNAL_CONVERSION_MIN_VALUE ? DSHOT_DISARM_COMMAND : constrain((externalValue - EXTERNAL_DSHOT_CONVERSION_OFFSET) * EXTERNAL_DSHOT_CONVERSION_FACTOR, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
if (feature(FEATURE_3D)) {
if (externalValue == EXTERNAL_CONVERSION_3D_MID_VALUE) {
motorValue = DSHOT_DISARM_COMMAND;
} else if (motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue);
}
}
}
#endif
@ -572,7 +581,15 @@ uint16_t convertMotorToExternal(uint16_t motorValue)
uint16_t externalValue = motorValue;
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
if (feature(FEATURE_3D) && motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue);
}
externalValue = motorValue < DSHOT_MIN_THROTTLE ? EXTERNAL_CONVERSION_MIN_VALUE : constrain((motorValue / EXTERNAL_DSHOT_CONVERSION_FACTOR) + EXTERNAL_DSHOT_CONVERSION_OFFSET, EXTERNAL_CONVERSION_MIN_VALUE + 1, EXTERNAL_CONVERSION_MAX_VALUE);
if (feature(FEATURE_3D) && motorValue == DSHOT_DISARM_COMMAND) {
externalValue = EXTERNAL_CONVERSION_3D_MID_VALUE;
}
}
#endif