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add safe start method to roughly match motor position before enabling.

This commit is contained in:
Teslafly 2022-04-07 02:10:59 -05:00
parent ea62ead138
commit 306e310e58
1 changed files with 22 additions and 1 deletions
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23
applications/app_ppm.c
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@ -144,6 +144,11 @@ static THD_FUNCTION(ppm_thread, arg) {
break;
}
// if (config.ctrl_absolute_input) {
// // remap from 0 to 1 only. with middle as 0.
// servo_val = fabsf(servo_val);
// }
// All pins and buttons are still decoded for debugging, even
// when output is disabled.
if (app_is_output_disabled()) {
@ -338,8 +343,24 @@ static THD_FUNCTION(ppm_thread, arg) {
pulses_without_power++;
}
float angle = servo_val * 360;
if (!(pulses_without_power < MIN_PULSES_WITHOUT_POWER && config.safe_start)) {
mc_interface_set_pid_pos(servo_val * 360);
// try to more intelligently safe start by waiting until
// ppm input is within 10 degrees of motor angle to go into position mode.
// possibly make 10 degrees adjustable?
if (mc_interface_get_control_mode() != CONTROL_MODE_POS){
// does this return actual angle until in pid mode? should have offset
float angle_now = mc_interface_get_pid_pos_now();
// float now_angle = encoder_read_deg(); // will not have offset
if (abs(angle - angle_now) < 10) {
mc_interface_set_pid_pos(angle); // enable position control.
}
break;
} else {
mc_interface_set_pid_pos(angle);
}
}
break;