Merge pull request #1152 from victorhook/upgrade-kit-param-update

Improvements for the Motor Upgrade Kit
bitcraze · Nov 16, 2022 · 5124f58 · 5124f58
2 parents fce6f32 + e82edd4
commit 5124f58
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Showing 4 changed files with 11 additions and 6 deletions.
diff --git a/src/drivers/interface/motors.h b/src/drivers/interface/motors.h
@@ -58,10 +58,6 @@
 #define MOTORS_TIM_DBG_CFG        DBGMCU_APB2PeriphConfig
 #define MOTORS_GPIO_AF_CFG(a,b,c) GPIO_PinAFConfig(a,b,c)
 
-// Compensate thrust depending on battery voltage so it will produce about the same
-// amount of thrust independent of the battery voltage. Based on thrust measurement.
-// Not applied for brushless motor setup.
-#define ENABLE_THRUST_BAT_COMPENSATED
 
 #ifdef CONFIG_MOTORS_ESC_PROTOCOL_ONESHOT125
 /**

diff --git a/src/drivers/src/motors.c b/src/drivers/src/motors.c
@@ -170,7 +170,7 @@ GPIO_InitTypeDef GPIO_PassthroughOutput =
 // Voltage needed with the Supply voltage.
 float motorsCompensateBatteryVoltage(uint32_t id, float iThrust, float supplyVoltage)
 {
-  #ifdef ENABLE_THRUST_BAT_COMPENSATED
+  #ifdef CONFIG_ENABLE_THRUST_BAT_COMPENSATED
   ASSERT(id < NBR_OF_MOTORS);
 
   if (motorMap[id]->drvType == BRUSHED)

diff --git a/src/modules/src/Kconfig b/src/modules/src/Kconfig
@@ -162,6 +162,15 @@ config POWER_DISTRIBUTION_FLAPPER_REVB
     help
         Power distribution function for Flapper Nimble+ with revB PCB
 
+config ENABLE_THRUST_BAT_COMPENSATED
+    bool "Enable battery thrust compensation"
+    default y
+    help
+        Compensate thrust depending on battery voltage so it will produce about the same
+        amount of thrust independent of the battery voltage.
+        The compensation is based on thrust measurements, which are only valid for CF2.X stock configuration.
+        Not applied for brushless motor setup.
+
 endmenu
 
 menu "Parameter subsystem"

diff --git a/src/modules/src/health.c b/src/modules/src/health.c
@@ -334,7 +334,7 @@ PARAM_ADD_CORE(PARAM_UINT8, startBatTest, &startBatTest)
 /**
  * @brief PWM ratio to use when testing propellers. Required for brushless motors. [0 - UINT16_MAX]
  */
-PARAM_ADD_CORE(PARAM_UINT16, propTestPWMRatio, &propTestPWMRatio)
+PARAM_ADD_CORE(PARAM_UINT16 | PARAM_PERSISTENT, propTestPWMRatio, &propTestPWMRatio)
 
 PARAM_GROUP_STOP(health)