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Merge pull request #929 from opentx/andreas/issue_888_throttle_trace_calc_not_very_accurate

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Andreas/issue 888 throttle trace calc not very accurate
This commit is contained in:
Bertrand Songis
2014-04-05 09:40:36 +02:00
parent 1751a1a06c 30099dc5cd
commit 5d40e1e5c9
2 changed files with 28 additions and 13 deletions
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radio/src/Makefile
+10
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@@ -126,6 +126,13 @@ CORRECT_NEGATIVE_VALUES = YES
# Values = YES, NO
ARITHMETIC_OVERFLOW_CHECK = NO
# increases resolution for throttle statistics and throttle counting, in very rare cases.
# this will be only true if an output channel is used for throttle calculation, and this chanenel has changed limits, e.g. -90% to +80%
# if you use standard limits for throttle or directly the throttle stick you do not need to bother about this option
# not valid for ARM based transmitters like Taranis, They do not have this rounding issue at all
# Values = YES, NO
ACCURAT_THROTTLE_STATS = NO
# HAPTIC Mods
# Values = YES, NO
HAPTIC = NO
@@ -857,6 +864,9 @@ ifeq ($(ARITHMETIC_OVERFLOW_CHECK), YES)
CPPDEFS += -DPREVENT_ARITHMETIC_OVERFLOW
endif
ifeq ($(ACCURAT_THROTTLE_STATS), YES)
CPPDEFS += -DACCURAT_THROTTLE_TIMER
endif
# EXTENSIONS (for Telemetry protocols)
ifneq ($(EXT), $(filter $(EXT), STD FRSKY ARDUPILOT NMEA JETI MAVLINK TELEMETREZ))
radio/src/opentx.cpp
+18 -13
View File
@@ -4179,6 +4179,13 @@ void doMixerCalculations()
if (!tick10ms) return; //make sure the rest happen only every 10ms.
#endif
#if !defined(CPUM64) && !defined(ACCURAT_THROTTLE_TIMER)
// code cost is about 16 bytes for higher throttle accuracy for timer
// would not be noticable anyway, because all version up to this change had only 16 steps;
// now it has already 32 steps; this define would increase to 128 steps
#define ACCURAT_THROTTLE_TIMER
#endif
/* Throttle trace */
int16_t val;
@@ -4199,18 +4206,23 @@ void doMixerCalculations()
if (lim->symetrical)
val -= calc1000toRESX(lim->offset);
#endif
// @@@ open.20.fsguruh optimized calculation; now *8 /8 instead of 10 base; (*16/16 already cause a overrun; unsigned calculation also not possible, because v may be negative)
gModelMax -= gModelMin; // we compare difference between Max and Mix for recaling needed; Max and Min are shifted to 0 by default
// usually max is 1024 min is -1024 --> max-min = 2048 full range / 128 = max 16 steps
// usually max is 1024 min is -1024 --> max-min = 2048 full range
#ifdef ACCURAT_THROTTLE_TIMER
if (gModelMax!=0 && gModelMax!=2048) val = (int32_t) (val << 11) / (gModelMax); // rescaling only needed if Min, Max differs
#else
// @@@ open.20.fsguruh optimized calculation; now *8 /8 instead of 10 base; (*16/16 already cause a overrun; unsigned calculation also not possible, because v may be negative)
gModelMax+=255; // force rounding up --> gModelMax is bigger --> val is smaller
gModelMax >>= (10-2);
if (gModelMax != 0 && gModelMax != 8) {
if (gModelMax!=0 && gModelMax!=8) {
val = (val << 3) / gModelMax; // rescaling only needed if Min, Max differs
}
#endif
// if (gModelMax!=2048) val = (int32_t) (val << 11) / (gModelMax); // recaling only needed if Min, Max differs
// val = val * 10 / (10+(lim->max-lim->min)/20);
if (val<0) val=0; // prevent val be negative, which would corrupt throttle trace and timers; could occur if safetyswitch is smaller than limits
}
else {
@@ -4221,13 +4233,6 @@ void doMixerCalculations()
#endif
}
#if !defined(CPUM64)
// code cost is about 16 bytes for higher throttle accuracy for timer
// would not be noticable anyway, because all version up to this change had only 16 steps;
// now it has already 32 steps; this define would increase to 128 steps
#define ACCURAT_THROTTLE_TIMER
#endif
#if defined(ACCURAT_THROTTLE_TIMER)
val >>= (RESX_SHIFT-6); // calibrate it (resolution increased by factor 4)
#else