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Cleanup unused maxEscThrottleJumpMs

This commit is contained in:
borisbstyle 2016-12-30 12:50:28 +01:00
parent 1030df294d
commit a142a80b1f
3 changed files with 0 additions and 16 deletions
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13
src/main/flight/mixer.c
View File

@ -534,19 +534,6 @@ void mixTable(pidProfile_t *pidProfile)
}
}
// Anti Desync feature for ESC's. Limit rapid throttle changes
if (motorConfig->maxEscThrottleJumpMs) {
const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
// Only makes sense when it's within the range
if (maxThrottleStep < motorOutputRange) {
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], motorOutputMin, motorPrevious[i] + maxThrottleStep); // Only limit accelerating situation
motorPrevious[i] = motor[i];
}
}
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (i = 0; i < motorCount; i++) {

1
src/main/io/motors.h
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@ -24,7 +24,6 @@ typedef struct motorConfig_s {
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
uint16_t maxEscThrottleJumpMs;
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
uint8_t motorPwmProtocol; // Pwm Protocol
uint8_t useUnsyncedPwm;

2
src/main/io/serial_cli.c
View File

@ -715,8 +715,6 @@ const clivalue_t valueTable[] = {
#ifdef USE_DSHOT
{ "digital_idle_percent", VAR_FLOAT | MASTER_VALUE, &motorConfig()->digitalIdleOffsetPercent, .config.minmax = { 0, 20} },
#endif
{ "max_esc_throttle_jump", VAR_UINT16 | MASTER_VALUE, &motorConfig()->maxEscThrottleJumpMs, .config.minmax = { 0, 1000 } },
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },