Fix dynamic idle safety issues #9719
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mikeller
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Apr 19, 2020
src/main/flight/mixer.c
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| @@ -657,7 +664,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs) | |||
| #endif | |||
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| currentThrottleInputRange = rcCommandThrottleRange; | |||
| motorRangeMin = motorOutputLow + motorRangeMinIncrease * (motorOutputHigh - motorOutputLow); | |||
| motorRangeMin = dynIdleMotorOutputLow + motorRangeMinIncrease * (motorOutputHigh - dynIdleMotorOutputLow); | |||
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Naming of this seems to be a bit confusing - this is applied even when dynamic idle is not enabled - maybe rather appliedMotorOutputLow?
Fixes a problem with dynamic idle not checking for bidirectional DSHOT being enabled. So the code would run but have no RPM data available leading to elevated motor idle. Fixes a problem with dynamic idle not resetting accumulated static variables that continue to be used when dynamic idle is switched off via a PID profile change. Depending on the state of the variables this could cause excessive motor idle speed. In some cases enough to cause the quad to spontaneously take off on arming or be unable to descend in flight. Fixes a problem with dynamic idle inappropriately modifying the static `motorOutputLow` that is set based on the chosen motor protocol. Downstream code that relies on this value to determine the acutal motor output range was adversely affected.
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Fix dynamic idle safety issues
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Fixes #9713
Fixes a problem with dynamic idle not checking for bidirectional DSHOT being enabled. So the code would run but have no RPM data available leading to elevated motor idle.
Fixes a problem with dynamic idle not resetting accumulated static variables that continue to be used when dynamic idle is switched off via a PID profile change. Depending on the state of the variables this could cause excessive motor idle speed. In some cases enough to cause the quad to spontaneously take off on arming or be unable to descend in flight.
Fixes a problem with dynamic idle inappropriately modifying the static
motorOutputLowthat is set based on the chosen motor protocol. Downstream code that relies on this value to determine the actual motor output range was adversely affected.