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Deprecate minthrottle to use motor_idle #4196

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merged 9 commits into from
Oct 8, 2024
Merged

Deprecate minthrottle to use motor_idle #4196

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7521027
Depricate minthrottle
haslinghuis Oct 1, 2024
57d6465
Fix sonar
haslinghuis Oct 4, 2024
feb02f6
Update toggle hide logic
haslinghuis Oct 4, 2024
11541b3
Rename digitalIdlePercent
haslinghuis Oct 4, 2024
b7d517b
Move mincommand above maxthrottle
haslinghuis Oct 4, 2024
c0e656c
Use widetip
haslinghuis Oct 5, 2024
0920120
Update tooltip
haslinghuis Oct 6, 2024
62bf4d9
Change precision
haslinghuis Oct 6, 2024
ea5dd65
Fix camelCase
haslinghuis Oct 8, 2024
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6 changes: 3 additions & 3 deletions locales/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -1464,11 +1464,11 @@
"configurationGyroCalOnFirstArm": {
"message": "Calibrate Gyro on first arm"
},
"configurationDigitalIdlePercent": {
"configurationMotorIdle": {
"message": "Motor Idle (%)"
},
"configurationDigitalIdlePercentHelp": {
"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."
"configurationMotorIdleHelp": {
"message": "Sets the idle speed of the motors while armed and throttle is 'low' (below `min_check`).<br/><br/><strong class=\"message-positive\">Dynamic Idle not enabled</strong><br/><br/>Each motor gets `min_command` plus Motor Idle percent.<br/><br/><b>Idle too low</b>: motors may not start reliably, spin up slowly, or desync in flips or rolls.<br/><br/><b>Idle too high</b>: the craft may feel 'floaty'.<br/><br/><b>Note</b>: analog ESC's must be calibrated so the motors start just above `min_command`.<br/><br/><strong class=\"message-positive\">Dynamic Idle enabled</strong><br/><br/>On arming, the 'normal' idle value is sent to each motor, until they spin up.<br/><br/>Once spinning, the motor signal is adjusted to achieve the target RPM.<br/><br/>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.<br/><br/><b>Idle too low</b>: motors may not start reliably<br/><br/><b>Idle too high</b>: shaking before takeoff (only if dynamic idle is also high)<br/><br/><b>Note</b>: Dynamic Idle requires DShot and DShot Telemetry."
},
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@ctzsnooze ctzsnooze Oct 5, 2024 •
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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 😛

image

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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.

"configurationMotorPoles": {
"message": "Motor poles",
Expand Down
2 changes: 1 addition & 1 deletion src/js/fc.js
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Original file line number Diff line number Diff line change
Expand Up @@ -479,7 +479,7 @@ const FC = {
use_unsyncedPwm: 0,
fast_pwm_protocol: 0,
motor_pwm_rate: 0,
digitalIdlePercent: 0,
motorIdle: 0,
gyroUse32kHz: 0,
motorPwmInversion: 0,
gyroHighFsr: 0,
Expand Down
4 changes: 2 additions & 2 deletions src/js/msp/MSPHelper.js
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Original file line number Diff line number Diff line change
Expand Up @@ -1048,7 +1048,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.PID_ADVANCED_CONFIG.use_unsyncedPwm = data.readU8();
FC.PID_ADVANCED_CONFIG.fast_pwm_protocol = EscProtocols.ReorderPwmProtocols(FC.CONFIG.apiVersion, data.readU8());
FC.PID_ADVANCED_CONFIG.motor_pwm_rate = data.readU16();
FC.PID_ADVANCED_CONFIG.digitalIdlePercent = data.readU16() / 100;
FC.PID_ADVANCED_CONFIG.motorIdle = data.readU16() / 100;
data.readU8(); // gyroUse32Khz is not supported
// Introduced in 1.42
FC.PID_ADVANCED_CONFIG.motorPwmInversion = data.readU8();
Expand Down Expand Up @@ -2002,7 +2002,7 @@ MspHelper.prototype.crunch = function(code, modifierCode = undefined) {
.push8(FC.PID_ADVANCED_CONFIG.use_unsyncedPwm)
.push8(EscProtocols.ReorderPwmProtocols(FC.CONFIG.apiVersion, FC.PID_ADVANCED_CONFIG.fast_pwm_protocol))
.push16(FC.PID_ADVANCED_CONFIG.motor_pwm_rate)
.push16(FC.PID_ADVANCED_CONFIG.digitalIdlePercent * 100)
.push16(FC.PID_ADVANCED_CONFIG.motorIdle * 100)
.push8(0); // gyroUse32kHz not used

// Introduced in 1.42
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35 changes: 18 additions & 17 deletions src/js/tabs/motors.js
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Original file line number Diff line number Diff line change
Expand Up @@ -278,7 +278,7 @@ motors.initialize = async function (callback) {
feature27: FC.FEATURE_CONFIG.features.isEnabled('ESC_SENSOR'),
dshotBidir: FC.MOTOR_CONFIG.use_dshot_telemetry,
motorPoles: FC.MOTOR_CONFIG.motor_poles,
digitalIdlePercent: FC.PID_ADVANCED_CONFIG.digitalIdlePercent,
motorIdle: FC.PID_ADVANCED_CONFIG.motorIdle,
idleMinRpm: FC.ADVANCED_TUNING.idleMinRpm,
_3ddeadbandlow: FC.MOTOR_3D_CONFIG.deadband3d_low,
_3ddeadbandhigh: FC.MOTOR_3D_CONFIG.deadband3d_high,
Expand Down Expand Up @@ -691,7 +691,7 @@ motors.initialize = async function (callback) {

unsyncedPWMSwitchElement.prop('checked', FC.PID_ADVANCED_CONFIG.use_unsyncedPwm !== 0).trigger("change");
$('input[name="unsyncedpwmfreq"]').val(FC.PID_ADVANCED_CONFIG.motor_pwm_rate);
$('input[name="digitalIdlePercent"]').val(FC.PID_ADVANCED_CONFIG.digitalIdlePercent);
$('input[name="motorIdle"]').val(FC.PID_ADVANCED_CONFIG.motorIdle);
$('input[name="idleMinRpm"]').val(FC.ADVANCED_TUNING.idleMinRpm);

dshotBidirElement.prop('checked', FC.MOTOR_CONFIG.use_dshot_telemetry).trigger("change");
Expand Down Expand Up @@ -755,24 +755,25 @@ motors.initialize = async function (callback) {
default:
}

const analogProtocolConfigured = protocolConfigured && !digitalProtocol;
const digitalProtocolConfigured = protocolConfigured && digitalProtocol;
const rpmFeaturesVisible = digitalProtocol && dshotBidirElement.is(':checked') || $("input[name='ESC_SENSOR']").is(':checked');

$('div.minthrottle').toggle(protocolConfigured && !digitalProtocol);
$('div.maxthrottle').toggle(protocolConfigured && !digitalProtocol);
$('div.mincommand').toggle(protocolConfigured && !digitalProtocol);
$('div.checkboxPwm').toggle(protocolConfigured && !digitalProtocol);
divUnsyncedPWMFreq.toggle(protocolConfigured && !digitalProtocol);
$('div.minthrottle').toggle(analogProtocolConfigured && semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_47));
$('div.maxthrottle').toggle(analogProtocolConfigured);
$('div.mincommand').toggle(analogProtocolConfigured);
$('div.checkboxPwm').toggle(analogProtocolConfigured);
divUnsyncedPWMFreq.toggle(analogProtocolConfigured);

$('div.digitalIdlePercent').toggle(protocolConfigured && digitalProtocol);
$('div.idleMinRpm').toggle(protocolConfigured && digitalProtocol && FC.MOTOR_CONFIG.use_dshot_telemetry);
$('div.motorIdle').toggle(protocolConfigured
&& semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)
|| (digitalProtocolConfigured && FC.MOTOR_CONFIG.use_dshot_telemetry && FC.ADVANCED_TUNING.idleMinRpm));

if (semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_47) && FC.ADVANCED_TUNING.idleMinRpm && FC.MOTOR_CONFIG.use_dshot_telemetry) {
$('div.digitalIdlePercent').hide();
}
$('div.idleMinRpm').toggle(protocolConfigured && digitalProtocol && FC.MOTOR_CONFIG.use_dshot_telemetry);

$('.escSensor').toggle(protocolConfigured && digitalProtocol);
$('.escSensor').toggle(digitalProtocolConfigured);

$('div.checkboxDshotBidir').toggle(protocolConfigured && digitalProtocol);
$('div.checkboxDshotBidir').toggle(digitalProtocolConfigured);
$('div.motorPoles').toggle(protocolConfigured && rpmFeaturesVisible);

$('.escMotorStop').toggle(protocolConfigured);
Expand Down Expand Up @@ -1157,7 +1158,7 @@ motors.initialize = async function (callback) {
FC.PID_ADVANCED_CONFIG.fast_pwm_protocol = parseInt(escProtocolElement.val() - 1);
FC.PID_ADVANCED_CONFIG.use_unsyncedPwm = unsyncedPWMSwitchElement.is(':checked') ? 1 : 0;
FC.PID_ADVANCED_CONFIG.motor_pwm_rate = parseInt($('input[name="unsyncedpwmfreq"]').val());
FC.PID_ADVANCED_CONFIG.digitalIdlePercent = parseFloat($('input[name="digitalIdlePercent"]').val());
FC.PID_ADVANCED_CONFIG.motorIdle = parseFloat($('input[name="motorIdle"]').val());

await MSP.promise(MSPCodes.MSP_SET_FEATURE_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_FEATURE_CONFIG));
await MSP.promise(MSPCodes.MSP_SET_MIXER_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_MIXER_CONFIG));
Expand Down Expand Up @@ -1225,7 +1226,7 @@ motors.initialize = async function (callback) {
function setup_motor_output_reordering_dialog(callbackFunction, zeroThrottleValue)
{
const domDialogMotorOutputReorder = $('#dialogMotorOutputReorder');
const idleThrottleValue = zeroThrottleValue + FC.PID_ADVANCED_CONFIG.digitalIdlePercent * 1000 / 100;
const idleThrottleValue = zeroThrottleValue + FC.PID_ADVANCED_CONFIG.motorIdle * 1000 / 100;
const motorOutputReorderComponent = new MotorOutputReorderComponent($('#dialogMotorOutputReorderContent'),
callbackFunction, mixerList[FC.MIXER_CONFIG.mixer - 1].name,
zeroThrottleValue, idleThrottleValue);
Expand Down Expand Up @@ -1256,7 +1257,7 @@ motors.initialize = async function (callback) {
function SetupdescDshotDirectionDialog(callbackFunction, zeroThrottleValue)
{
const domEscDshotDirectionDialog = $('#escDshotDirectionDialog');
const idleThrottleValue = zeroThrottleValue + FC.PID_ADVANCED_CONFIG.digitalIdlePercent * 1000 / 100;
const idleThrottleValue = zeroThrottleValue + FC.PID_ADVANCED_CONFIG.motorIdle * 1000 / 100;
const motorConfig = {
numberOfMotors: self.numberOfValidOutputs,
motorStopValue: zeroThrottleValue,
Expand Down
22 changes: 11 additions & 11 deletions src/tabs/motors.html
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Original file line number Diff line number Diff line change
Expand Up @@ -99,12 +99,12 @@
<span i18n="configurationMotorPolesLong"></span>
<div class="helpicon cf_tip" i18n_title="configurationMotorPolesHelp"></div>
</div>
<div class="number digitalIdlePercent">
<div class="number motorIdle">
<div class="numberspacer">
<input type="number" name="digitalIdlePercent" min="0.00" max="20.00" step="0.01"/>
<input type="number" name="motorIdle" min="0.0" max="20.0" step="0.1"/>
</div>
<span i18n="configurationDigitalIdlePercent"></span>
<div class="helpicon cf_tip" i18n_title="configurationDigitalIdlePercentHelp"></div>
<span i18n="configurationMotorIdle"></span>
<div class="helpicon cf_tip_wide" i18n_title="configurationMotorIdleHelp"></div>
</div>
<div class="number idleMinRpm">
<div class="numberspacer noarrows">
Expand All @@ -113,6 +113,13 @@
<span i18n="pidTuningIdleMinRpm"></span>
<div class="helpicon cf_tip" i18n_title="configurationMotorIdleRpmHelp"></div>
</div>
<div class="number mincommand">
<div class="numberspacer">
<input type="number" name="mincommand" min="0" max="2000" />
</div>
<span i18n="configurationThrottleMinimumCommand"></span>
<div class="helpicon cf_tip" i18n_title="configurationThrottleMinimumCommandHelp"></div>
</div>
<div class="number minthrottle">
<div class="numberspacer">
<input type="number" name="minthrottle" min="0" max="2000" />
Expand All @@ -126,13 +133,6 @@
</div>
<span i18n="configurationThrottleMaximum"></span>
</div>
<div class="number mincommand">
<div class="numberspacer">
<input type="number" name="mincommand" min="0" max="2000" />
</div>
<span i18n="configurationThrottleMinimumCommand"></span>
<div class="helpicon cf_tip" i18n_title="configurationThrottleMinimumCommandHelp"></div>
</div>
</div>
</div>
</div>
Expand Down