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Merge pull request #1703 from betaflight/digital_offset 

Convert digital offset to percentage
This commit is contained in:
borisbstyle 2016-11-30 10:31:51 +01:00 committed by GitHub
parent c0761eb619 9f762aa88a
commit b4ecb527b7
6 changed files with 9 additions and 9 deletions
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2
src/main/config/config_eeprom.h
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@ -17,7 +17,7 @@
#pragma once
#define EEPROM_CONF_VERSION 146
#define EEPROM_CONF_VERSION 147
void initEEPROM(void);
void writeEEPROM();

2
src/main/fc/config.c
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@ -287,7 +287,7 @@ void resetMotorConfig(motorConfig_t *motorConfig)
#endif
motorConfig->maxthrottle = 2000;
motorConfig->mincommand = 1000;
motorConfig->digitalIdleOffset = 40;
motorConfig->digitalIdleOffsetPercent = 3.0f;
int motorIndex = 0;
for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {

6
src/main/flight/mixer.c
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@ -257,10 +257,10 @@ void initEscEndpoints(void) {
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
disarmMotorOutput = DSHOT_DISARM_COMMAND;
minMotorOutputNormal = DSHOT_MIN_THROTTLE + motorConfig->digitalIdleOffset;
minMotorOutputNormal = DSHOT_MIN_THROTTLE + lrintf(((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * motorConfig->digitalIdleOffsetPercent);
maxMotorOutputNormal = DSHOT_MAX_THROTTLE;
deadbandMotor3dHigh = DSHOT_3D_MIN_NEGATIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
deadbandMotor3dLow = DSHOT_3D_MAX_POSITIVE; // TODO - Not working yet !! Mixer requires some throttle rescaling changes
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
{

4
src/main/flight/mixer.h
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@ -43,8 +43,8 @@
#define DSHOT_DISARM_COMMAND 0
#define DSHOT_MIN_THROTTLE 48
#define DSHOT_MAX_THROTTLE 2047
#define DSHOT_3D_MAX_POSITIVE 1047 // TODO - Not working yet!! Mixer requires some throttle rescaling changes
#define DSHOT_3D_MIN_NEGATIVE 1048// TODO - Not working yet!! Mixer requires some throttle rescaling changes
#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
// Note: this is called MultiType/MULTITYPE_* in baseflight.
typedef enum mixerMode

2
src/main/io/motors.h
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@ -28,6 +28,6 @@ typedef struct motorConfig_s {
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
uint8_t motorPwmProtocol; // Pwm Protocol
uint8_t useUnsyncedPwm;
uint8_t digitalIdleOffset;
float digitalIdleOffsetPercent;
ioTag_t ioTags[MAX_SUPPORTED_MOTORS];
} motorConfig_t;

2
src/main/io/serial_cli.c
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@ -703,7 +703,7 @@ const clivalue_t valueTable[] = {
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
#ifdef USE_DSHOT
{ "digital_idle_offset", VAR_UINT8 | MASTER_VALUE, &masterConfig.motorConfig.digitalIdleOffset, .config.minmax = { 0, 255} },
{ "digital_idle_percent", VAR_FLOAT | MASTER_VALUE, &masterConfig.motorConfig.digitalIdleOffsetPercent, .config.minmax = { 0, 20} },
#endif
{ "max_esc_throttle_jump", VAR_UINT16 | MASTER_VALUE, &masterConfig.motorConfig.maxEscThrottleJumpMs, .config.minmax = { 0, 1000 } },