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dshot: add 3D capability

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This commit is contained in:
benjinne
2021-05-06 02:12:07 -04:00
committed by GitHub
parent 177ee4cbca
commit 099c2d13f6
3 changed files with 53 additions and 4 deletions
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20
src/drivers/dshot/DShot.cpp
View File

@@ -530,11 +530,27 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
} else {
for (int i = 0; i < (int)num_outputs; i++) {
if (outputs[i] == DSHOT_DISARM_VALUE) {
uint16_t output = outputs[i];
// DShot 3D splits the throttle ranges in two.
// This is in terms of DShot values, code below is in terms of actuator_output
// Direction 1) 48 is the slowest, 1047 is the fastest.
// Direction 2) 1049 is the slowest, 2047 is the fastest.
if (_param_dshot_3d_enable.get()) {
if (output >= _param_dshot_3d_dead_l.get() && output <= _param_dshot_3d_dead_h.get()) {
output = DSHOT_DISARM_VALUE;
} else if (output < 1000 && output > 0) { //Todo: allow actuator 0 or dshot 48 to be used
output = 999 - output;
}
}
if (output == DSHOT_DISARM_VALUE) {
up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);
} else {
up_dshot_motor_data_set(i, math::min(outputs[i], static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
up_dshot_motor_data_set(i, math::min(output, static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
i == requested_telemetry_index);
}
}

3
src/drivers/dshot/DShot.h
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@@ -231,6 +231,9 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::DSHOT_CONFIG>) _param_dshot_config,
(ParamFloat<px4::params::DSHOT_MIN>) _param_dshot_min,
(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
)
};

34
src/drivers/dshot/module.yaml
View File

@@ -14,7 +14,7 @@ parameters:
long: |
This enables/disables DShot. The different modes define different
speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
Note: this enables DShot on the FMU outputs. For boards with an IO it is the
AUX outputs.
type: enum
@@ -40,6 +40,37 @@ parameters:
decimal: 2
increment: 0.01
default: 0.055
DSHOT_3D_ENABLE:
description:
short: Allows for 3d mode when using DShot and suitable mixer
long: |
WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0.
This splits the throttle ranges in two.
Direction 1) 48 is the slowest, 1047 is the fastest.
Direction 2) 1049 is the slowest, 2047 is the fastest.
When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
type: boolean
default: 0
DSHOT_3D_DEAD_H:
description:
short: DSHOT 3D deadband high
long: |
When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
type: int32
min: 1000
max: 1999
default: 1000
DSHOT_3D_DEAD_L:
description:
short: DSHOT 3D deadband low
long: |
When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
type: int32
min: 0
max: 1000
default: 1000
MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
description:
short: Number of magnetic poles of the motors
@@ -51,4 +82,3 @@ parameters:
Typical motors for 5 inch props have 14 poles.
type: int32
default: 14