Deprecate minthrottle to use motor_idle #4196
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haslinghuis
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haslinghuis
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when MULTISHOT, PWM, PROSHOT, i don't see minThrottle and do see maxThrottle, minCommand |
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Correct |
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and successfully backwards compatible for <=4.5 |
| "message": "Motor Idle (%)" | ||
| }, | ||
| "configurationDigitalIdlePercentHelp": { | ||
| "configurationmotorIdleHelp": { | ||
| "message": "The Motor Idle value sets the idle speed of the motors when throttle is at minimum position.<br/><br/><strong>Dynamic Idle disabled</strong><br/><br/>The lowest throttle value sent to any motor, while armed, as a percentage of full throttle. Increase it to improve motor startup reliability, to avoid desyncs, and to improve PID responsiveness at low throttle.<br/><br/>Too low: the motors may not start up reliably, or desync at the end of a flip or roll or on hard throttle chops.<br/><br/>Too high: the craft may feel 'floaty'.<br/><br/><strong>Dynamic idle enabled</strong><br/><br/>The maximum throttle allowed, after arming, before takeoff. If RPM is less than dyn_idle_min_rpm, or zero, this throttle value will be sent to the motors. When the motors start spinning, throttle is adjusted to maintain the set RPM, but cannot exceed this value until the quad takes off.<br/><br/>Too low: the motors may not start up reliably.<br/><br/>Too high: the craft may shake on the ground before takeoff." | ||
| }, |
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maybe
The Motor Idle value sets the idle speed of the motors when throttle is 'low' (i.e, when the throttle setpoint is below min_check).
If Dynamic Idle is not enabled, the value sent to the motors will be 'min_command' plus the Motor Idle percentage, for both PWM and DShot ESCs.
Too low: the motors may not start up reliably, or desync at the end of a flip or roll or on hard throttle chops.
Too high: the craft may feel 'floaty'. < no changes for these two lines>
If Dynamic Idle is enabled, the motor drive value cannot exceed the Motor Idle percentage above 'min_command', before takeoff. If, on arming, the motors do not start up reliably, increase the Motor Idle value to send a higher initial startup value. Once they start spinning, Dynamic idle will attempt to attain the set minimum RPM. Note that, before takeoff the RPM at idle may be below the configured dyn_idle_min_rpm value. So long as the motors start up reliably, this is OK. To check that your configured dyn_idle_min_rpm value will be achieved in flight, raise throttle above the 'air mode_start_throttle' value, which overcomes the Motor Idle limit. If Dynamic Idle is enabled and the Motor Idle is set too high, the craft may shake on the ground before takeoff.
Sorry for so many words !
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Is this the longest tooltip 😛
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OK let's try something shorter :-)
Sets the idle speed of the motors while armed and throttle is 'low' (below `min_check`).
**Dynamic Idle not enabled:**
Each motor gets `min_command` plus Motor Idle percent.
Idle too low: motors may not start reliably, spin up slowly, or desync in flips or rolls.
Idle too high: the craft may feel 'floaty'.
Note: analog ESC's must be calibrated so the motors start just above `min_command`.
**Dynamic Idle enabled**
On arming, the 'normal' idle value is sent to each motor, until they spin up.
Once spinning, the motor signal is adjusted to achieve the target RPM.
Before takeoff, the motor signal is limited to the Motor Idle percentage, and the set RPM may not be achieved. This is OK. When throttle is raised above the `airmode_motor_start_throttle` percentage, the limit is much higher, and the set RPM should be achieved at idle.
Idle too low: motors may not start reliably
Idle too high: shaking before takeoff (only if dynamic idle is also high)
Note: Dynamic Idle requires DShot and DShot Telemetry.
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We need the tooltips to be wider :-)
Either that, or the tooltip is responsive to the state of Dynamic idle, and only shows the text for 'not enabled' when it is 'not enabled', and vice versa.
This is perhaps the best solution.
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@haslinghuis thanks for this work - I can confirm @nerdCopter's test results for 4.6, where selecting an analog protocol still shows minThrottle, where it should show the same MotorIdle value as we see with DShot: 
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On 4.6 we have:
On 4.5 we have
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Approving - motor idle renders as it should in 4.6! Thank you! Let's see how it works if the message text us sensitive to the dynamic idle state, that should halve the message length, making it small enough. Maybe these tooltips can auto-size themselves a bit wider for computer screens? |
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ctzsnooze
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Wide tip looks good! Maybe update the text with the shorter version that I provided? Should be good to go once the firmware is merged. |
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@haslinghuis - while we are thinking about this, my personal view is that the user doesn't need two decimal points of accuracy in the idle percentage, even though we provide it with the 16 bit value in the CLI. |
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* Depricate minthrottle * Fix sonar * Update toggle hide logic * Rename digitalIdlePercent * Move mincommand above maxthrottle * Use widetip * Update tooltip * Change precision * Fix camelCase
* Depricate minthrottle * Fix sonar * Update toggle hide logic * Rename digitalIdlePercent * Move mincommand above maxthrottle * Use widetip * Update tooltip * Change precision * Fix camelCase
minthrottlemotor_idlefor every configured protocol.