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Motor output ramp consistent for higher than minimum initial motor command #21690

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merged 2 commits into from
Jun 10, 2023
Merged

Motor output ramp consistent for higher than minimum initial motor command #21690

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335159c
mixer_module: correct pwm ramp
MaEtUgR Feb 9, 2023
eef43eb
mixer_module: remove unnecessary init state
MaEtUgR Jun 6, 2023
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65 changes: 6 additions & 59 deletions src/lib/mixer_module/mixer_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -526,21 +526,6 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const

/* first evaluate state changes */
switch (_output_state) {
case OutputLimitState::INIT:
if (armed) {
// set arming time for the first call
if (_output_time_armed == 0) {
_output_time_armed = hrt_absolute_time();
}

// time for the ESCs to initialize (this is not actually needed if the signal is sent right after boot)
if (hrt_elapsed_time(&_output_time_armed) >= 50_ms) {
_output_state = OutputLimitState::OFF;
}
}

break;

case OutputLimitState::OFF:
if (armed) {
if (_output_ramp_up) {
Expand Down Expand Up @@ -589,7 +574,6 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const
// then set _current_output_value based on state
switch (local_limit_state) {
case OutputLimitState::OFF:
case OutputLimitState::INIT:
for (int i = 0; i < num_channels; i++) {
_current_output_value[i] = _disarmed_value[i];
}
Expand All @@ -598,53 +582,16 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const

case OutputLimitState::RAMP: {
hrt_abstime diff = hrt_elapsed_time(&_output_time_armed);
float progress = static_cast<float>(diff) / RAMP_TIME_US;

static constexpr int PROGRESS_INT_SCALING = 10000;
int progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;

if (progress > PROGRESS_INT_SCALING) {
progress = PROGRESS_INT_SCALING;
if (progress > 1.f) {
progress = 1.f;
}

for (int i = 0; i < num_channels; i++) {

float control_value = output[i];

/* check for invalid / disabled channels */
if (!PX4_ISFINITE(control_value)) {
_current_output_value[i] = _disarmed_value[i];
continue;
}

uint16_t ramp_min_output;

/* if a disarmed output value was set, blend between disarmed and min */
if (_disarmed_value[i] > 0) {

/* safeguard against overflows */
auto disarmed = _disarmed_value[i];

if (disarmed > _min_value[i]) {
disarmed = _min_value[i];
}

int disarmed_min_diff = _min_value[i] - disarmed;
ramp_min_output = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;

} else {
/* no disarmed output value set, choose min output */
ramp_min_output = _min_value[i];
}

if (_reverse_output_mask & (1 << i)) {
control_value = -1.f * control_value;
}

_current_output_value[i] = control_value * (_max_value[i] - ramp_min_output) / 2 + (_max_value[i] + ramp_min_output) /
2;

/* last line of defense against invalid inputs */
_current_output_value[i] = math::constrain(_current_output_value[i], ramp_min_output, _max_value[i]);
// Ramp from disarmed value to currently desired output that would apply without ramp
uint16_t desired_output = output_limit_calc_single(i, output[i]);
_current_output_value[i] = _disarmed_value[i] + progress * (desired_output - _disarmed_value[i]);
}
}
break;
Expand Down
3 changes: 1 addition & 2 deletions src/lib/mixer_module/mixer_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -248,10 +248,9 @@ class MixingOutput : public ModuleParams

enum class OutputLimitState {
OFF = 0,
INIT,
RAMP,
ON
} _output_state{OutputLimitState::INIT};
} _output_state{OutputLimitState::OFF};

hrt_abstime _output_time_armed{0};
const bool _output_ramp_up; ///< if true, motors will ramp up from disarmed to min_output after arming
Expand Down