Anti Desync feature for ESC's // Experimental
This commit is contained in:
parent
935ad7f613
commit
fb7cfffdeb
|
@ -140,7 +140,7 @@ static uint32_t activeFeaturesLatch = 0;
|
|||
static uint8_t currentControlRateProfileIndex = 0;
|
||||
controlRateConfig_t *currentControlRateProfile;
|
||||
|
||||
static const uint8_t EEPROM_CONF_VERSION = 137;
|
||||
static const uint8_t EEPROM_CONF_VERSION = 138;
|
||||
|
||||
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
|
||||
{
|
||||
|
@ -236,6 +236,7 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
|
|||
escAndServoConfig->maxthrottle = 1850;
|
||||
escAndServoConfig->mincommand = 1000;
|
||||
escAndServoConfig->servoCenterPulse = 1500;
|
||||
escAndServoConfig->escDesyncProtection = 0;
|
||||
}
|
||||
|
||||
void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
|
||||
|
|
|
@ -854,6 +854,15 @@ void mixTable(void)
|
|||
motor[i] = escAndServoConfig->mincommand;
|
||||
}
|
||||
}
|
||||
|
||||
// Experimental Code. Anti Desync feature for ESC's
|
||||
if (escAndServoConfig->escDesyncProtection) {
|
||||
const int16_t maxThrottleStep = escAndServoConfig->escDesyncProtection / (1000 / targetPidLooptime);
|
||||
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
|
||||
|
||||
motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
|
||||
motorPrevious[i] = motor[i];
|
||||
}
|
||||
}
|
||||
|
||||
// Disarmed mode
|
||||
|
|
|
@ -24,4 +24,5 @@ typedef struct escAndServoConfig_s {
|
|||
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 servoCenterPulse; // This is the value for servos when they should be in the middle. e.g. 1500.
|
||||
uint16_t escDesyncProtection; // Value that a motor is allowed to increase or decrease in a period of 1ms
|
||||
} escAndServoConfig_t;
|
||||
|
|
|
@ -565,6 +565,7 @@ const clivalue_t valueTable[] = {
|
|||
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
|
||||
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
|
||||
{ "min_command", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
|
||||
{ "anti_desync_power_step", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.escDesyncProtection, .config.minmax = { 0, 2000 } },
|
||||
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
|
||||
|
||||
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
|
||||
|
|
Loading…
Reference in New Issue