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Seperate rcCommand[Throttle] from D-Shot Motor Output

This commit is contained in:
Gary Keeble 2016-12-14 14:29:56 +00:00
parent d93224be06
commit d7f5169024
3 changed files with 13 additions and 5 deletions
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10
src/main/blackbox/blackbox.c
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@ -187,7 +187,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
{"motor", 1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
{"motor", 2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
@ -291,6 +291,8 @@ typedef struct blackboxSlowState_s {
//From mixer.c:
extern uint8_t motorCount;
extern uint16_t motorOutputHigh, motorOutputLow;
//From rc_controls.c
extern uint32_t rcModeActivationMask;
@ -539,8 +541,8 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4);
//Motors can be below minthrottle when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle);
//Motors can be below minimum output when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
for (x = 1; x < motorCount; x++) {
@ -1176,6 +1178,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("motorOutput:%d,%d", motorOutputLow,motorOutputHigh);
BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x", castFloatBytesToInt(gyro.dev.scale));
BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc.dev.acc_1G);
@ -1282,6 +1285,7 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", motorConfig()->useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", motorConfig()->motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", motorConfig()->motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset:%d", (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);

5
src/main/blackbox/blackbox_fielddefs.h
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@ -80,7 +80,10 @@ typedef enum FlightLogFieldPredictor {
FLIGHT_LOG_FIELD_PREDICTOR_VBATREF = 9,
//Predict the last time value written in the main stream
FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10
FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10,
//Predict that this field is the minimum motor output
FLIGHT_LOG_FIELD_PREDICTOR_MINMOTOR = 11
} FlightLogFieldPredictor;

3
src/main/flight/mixer.c
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@ -236,7 +236,8 @@ const mixer_t mixers[] = {
static motorMixer_t *customMixers;
static uint16_t disarmMotorOutput, motorOutputHigh, motorOutputLow, deadbandMotor3dHigh, deadbandMotor3dLow;
static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
uint16_t motorOutputHigh, motorOutputLow;
static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
uint8_t getMotorCount() {