Make dyn idle startup increase configurable #12432
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AUTOMERGE: (FAIL)
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I had forgotten to add some files when pushing an amend. |
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Replace fixed 5 percent max increase from dynamic idle when airmode is active with a configurable value. -Default value is still 5.0 percent (50 in cli) -Add dyn_idle_start_increase cli setting -Add dyn_idle_start_increase BB header field
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@tbolin Almost forgot we need to increase the PG reset function from 5 to 6 |
I think that is done now |
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Do you want to test this code? Here you have an automated build: |
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@tbolin see also: https://youtu.be/aUBXt4P8p9w?t=566 |
Thanks, but both maximum startup power (Boost) and maximum startup power (Protection) is already set to the maximum values (running 48 kHz pwm). IIRC the battery was also full in the videos. |
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I think its good to have two separate values. The original intent of not enabling full dynamic idle when arming without air mode active was to avoid a possible exaggeration of an oscillation on arming, perhaps leading to an arming flyaway. I don't think that this has been a practical problem, however being able to have one value on arming and a higher value in flight can keep the original intent, and allow people who want higher idle without airmode to do so without a problem. |
* Make dyn idle startup increase configurable Replace fixed 5 percent max increase from dynamic idle when airmode is active with a configurable value. -Default value is still 5.0 percent (50 in cli) -Add dyn_idle_start_increase cli setting -Add dyn_idle_start_increase BB header field * Increse PG reset to ver 6 for pidProfile * Indentation --------- Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Replace fixed 5 percent max increase from dynamic idle when airmode is inactive with a configurable value.
-Default value is still 5.0 percent (50 in cli)
-Add dyn_idle_start_increase cli setting
-Add dyn_idle_start_increase BB header field
Currently the dynamic idle maximum increase is limited to 5% when arming, until the throttle is pushed past airmode_start_throttle_percent.
For most quads 5% is plenty, and a higher limit could increase the risk of damaging the motors/ESC if the props are obstructed, cause the quad to throttle up unexpectedly on arming, and very powerful quads might even jump slightly.
Some quads however, especially tiny whoops, can have problems getting the motors spinning if the idle is limited to 5%.
This PR implements a setting that allows the max increase at startup to be adjusted so dynamic idle is more usable on those quads.
The default is still the same as the old hard coded limit, so most quads shouldn't be affected.
Demonstration videos
First with dyn_idle_start_increase at 5%. One of the motors fails to start.
https://youtu.be/EjM2xU3o6pA
With dyn_idle_start_increase all motors start (the fly away in the end is just me raising the throttle and not due to the increased limit).
https://youtu.be/wA70vNFtaTM