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Added a common deadband conversion code

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Modified protocols:
 - GD00X applied on aileron
 - KF606 applied on aileron
 - POTENSIC applied on throttle
This commit is contained in:
Pascal Langer 2019-07-03 17:39:05 +02:00
parent e4992bc917
commit 8aea9aa3dd
6 changed files with 26 additions and 17 deletions
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14
Multiprotocol/Common.ino
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@ -56,6 +56,20 @@ void InitChannel()
/************************/
/** Convert routines **/
/************************/
// Convert channel 8b with limit and deadband
uint8_t convert_channel_8b_limit_deadband(uint8_t num,uint8_t min,uint8_t mid, uint8_t max, uint8_t deadband)
{
uint16_t val=limit_channel_100(num); // 204<->1844
uint16_t db_low=CHANNEL_MID-deadband, db_high=CHANNEL_MID+deadband; // 1024+-deadband
if(val>=db_low && val<=db_high)
return mid;
else if(val<db_low)
val=min+(val-CHANNEL_MIN_100)*(mid-min)/(db_low-CHANNEL_MIN_100);
else
val=mid+(val-db_high)*(max-mid)/(CHANNEL_MAX_100-1-db_high);
return val;
}
// Revert a channel and store it
void reverse_channel(uint8_t num)
{

14
Multiprotocol/GD00X_nrf24l01.ino
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@ -72,18 +72,8 @@ static void __attribute__((unused)) GD00X_send_packet()
{
packet[0]=convert_channel_16b_limit(THROTTLE,0,100); // 0..100
// Deadband is needed on aileron
uint16_t aileron=limit_channel_100(AILERON); // 204<->1844
#define GD00X_V2_DB_MIN 1024-40
#define GD00X_V2_DB_MAX 1024+40
if(aileron>GD00X_V2_DB_MIN && aileron<GD00X_V2_DB_MAX)
packet[1]=0x20; // Send the channel centered
else // Ail: 0x3F..0x20..0x00
if(aileron>GD00X_V2_DB_MAX)
packet[1]=0x1F-((aileron-GD00X_V2_DB_MAX)*(0x20)/(CHANNEL_MAX_100+1-GD00X_V2_DB_MAX)); // 1F..00
else
packet[1]=0x3F-((aileron-CHANNEL_MIN_100)*(0x1F)/(GD00X_V2_DB_MIN-CHANNEL_MIN_100)); // 3F..21
// Deadband is needed on aileron, 40 gives +-6%
packet[2]=convert_channel_8b_limit_deadband(AILERON,0x3F,0x20,0x00,40); // Aileron: 3F..20..00
// Trims must be in a seperate channel for this model
packet[2]=0x3F-(convert_channel_8b(CH5)>>2); // Trim: 0x3F..0x20..0x00

6
Multiprotocol/KF606_nrf24l01.ino
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@ -38,8 +38,10 @@ static void __attribute__((unused)) KF606_send_packet()
{
packet[0]= 0x55;
packet[1]= convert_channel_8b(THROTTLE); // 0..255
packet[2]= convert_channel_16b_limit(AILERON,0x20,0xE0); // Low:50..80..AF High:3E..80..C1
packet[3]= convert_channel_16b_limit(CH5,0xC1,0xDF); // Trim on a separated channel C1..D0..DF
// Deadband is needed on aileron, 40 gives +-6%
packet[2]=convert_channel_8b_limit_deadband(AILERON,0x20,0x80,0xE0,40); // Aileron: Max values:20..80..E0, Low rates:50..80..AF, High rates:3E..80..C1
// Aileron trim must be on a separated channel C1..D0..DF
packet[3]= convert_channel_16b_limit(CH5,0xC1,0xDF);
}
if(IS_BIND_DONE)
{

2
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 2
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 64
#define VERSION_PATCH_LEVEL 65
//******************
// Protocols

3
Multiprotocol/POTENSIC_nrf24l01.ino
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@ -44,7 +44,8 @@ static void __attribute__((unused)) POTENSIC_send_packet()
else
{
packet[0] = 0x64;
packet[1] = convert_channel_16b_limit(THROTTLE,0,100)&0xFE;
// Deadband is needed on throttle to emulate the spring to neutral otherwise the quad behaves weirdly, 160 gives +-20%
packet[1] = convert_channel_8b_limit_deadband(THROTTLE,0x00,0x19,0x32,160)<<1; // Throttle 00..19..32 *2
uint8_t elevator=convert_channel_8b(ELEVATOR)>>3;
packet[2] = ((255-convert_channel_8b(RUDDER))&0xF8)|(elevator>>2);
packet[3] = (elevator<<6)|(((255-convert_channel_8b(AILERON))>>2)&0xFE);

2
Multiprotocol/TX_Def.h
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@ -40,6 +40,8 @@
#define CHANNEL_MAX_125 2047 // 125%
#define CHANNEL_MIN_125 0 // 125%
#define CHANNEL_MID 1024
#define CHANNEL_MIN_COMMAND 784 // 1350us
#define CHANNEL_SWITCH 1104 // 1550us
#define CHANNEL_MAX_COMMAND 1424 // 1750us