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Merge pull request #7482 from mikeller/add_motor_output_limit 

Added motor output limiting per profile.
This commit is contained in:
Michael Keller 2019-02-02 15:25:54 +13:00 committed by GitHub
parent 85ac92f42a 73d18ede66
commit d208cd0f8f
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 29 additions and 11 deletions
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2
src/main/cli/settings.c
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@ -1011,6 +1011,8 @@ const clivalue_t valueTable[] = {
{ "dterm_cut_lowpass_hz", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_cut_lowpass_hz) },
#endif
{ "motor_output_limit", VAR_UINT8 | PROFILE_VALUE, .config.minmax = { 1, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, motor_output_limit) },
#ifdef USE_LAUNCH_CONTROL
{ "launch_control_mode", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_LAUNCH_CONTROL_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlMode) },
{ "launch_trigger_allow_reset", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlAllowTriggerReset) },

4
src/main/fc/config.c
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@ -208,6 +208,10 @@ static void validateAndFixConfig(void)
}
#endif
if (currentPidProfile->motor_output_limit > 100 || currentPidProfile->motor_output_limit == 0) {
currentPidProfile->motor_output_limit = 100;
}
if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
featureDisable(FEATURE_3D);

32
src/main/flight/mixer.c
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@ -367,6 +367,11 @@ bool mixerIsTricopter(void)
// DSHOT scaling is done to the actual dshot range
void initEscEndpoints(void)
{
float motorOutputLimit = 1.0f;
if (currentPidProfile->motor_output_limit < 100) {
motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
}
// Can't use 'isMotorProtocolDshot()' here since motors haven't been initialised yet
switch (motorConfig()->dev.motorPwmProtocol) {
#ifdef USE_DSHOT
@ -375,29 +380,34 @@ void initEscEndpoints(void)
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
} else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
{
float outputLimitOffset = (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) * (1 - motorOutputLimit);
disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
if (featureIsEnabled(FEATURE_3D)) {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
motorOutputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset / 2;
deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - outputLimitOffset / 2;
} else {
motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
motorOutputHigh = DSHOT_MAX_THROTTLE - outputLimitOffset;
}
}
motorOutputHigh = DSHOT_MAX_THROTTLE;
deadbandMotor3dHigh = DSHOT_3D_FORWARD_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_3D_FORWARD_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
deadbandMotor3dLow = DSHOT_3D_FORWARD_MIN_THROTTLE - 1;
break;
#endif
default:
if (featureIsEnabled(FEATURE_3D)) {
float outputLimitOffset = (flight3DConfig()->limit3d_high - flight3DConfig()->limit3d_low) * (1 - motorOutputLimit) / 2;
disarmMotorOutput = flight3DConfig()->neutral3d;
motorOutputLow = flight3DConfig()->limit3d_low;
motorOutputHigh = flight3DConfig()->limit3d_high;
motorOutputLow = flight3DConfig()->limit3d_low + outputLimitOffset;
motorOutputHigh = flight3DConfig()->limit3d_high - outputLimitOffset;
deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
} else {
disarmMotorOutput = motorConfig()->mincommand;
motorOutputLow = motorConfig()->minthrottle;
motorOutputHigh = motorConfig()->maxthrottle;
motorOutputHigh = motorConfig()->maxthrottle - ((motorConfig()->maxthrottle - motorConfig()->minthrottle) * (1 - motorOutputLimit));
}
break;
}

1
src/main/flight/pid.c
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@ -191,6 +191,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
.dterm_cut_gain = 15,
.dterm_cut_range_hz = 40,
.dterm_cut_lowpass_hz = 7,
.motor_output_limit = 100,
);
#ifdef USE_DYN_LPF
pidProfile->dterm_lowpass_hz = 150;

1
src/main/flight/pid.h
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@ -164,6 +164,7 @@ typedef struct pidProfile_s {
uint8_t dterm_cut_gain; // Gain factor for amount of gyro activity required to remove the dterm cut
uint8_t dterm_cut_range_hz; // Biquad to prevent high frequency gyro noise from removing the dterm cut
uint8_t dterm_cut_lowpass_hz; // First order lowpass to delay and smooth dterm cut factor
uint8_t motor_output_limit; // Upper limit of the motor output (percent)
} pidProfile_t;
PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);