Anti Desync feature for ESC's // Experimental

src/main/config/config.c

@@ -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)

src/main/flight/mixer.c

@@ -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

src/main/io/escservo.h

@@ -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;

src/main/io/serial_cli.c

@@ -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