Планирование и пикирование

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XXcontrollerV1.1

I've spent a bit of time looking at the code manuLRK posted earlier in the thread [[https://www.rcgroups.com/forums/showpost.php?p=16831624&postcount=318|(here)]] regarding improved ESC PWM rates (>450Hz) and, after a day or so fiddling, I have incorporated this into XXcontroller code.

Theoretical maximum ESC rate is 497Hz, but probably less, as there are a few tens of micro-seconds's lost along the way.\\
Actually, I have noticed that the internal Xtal isn't very accurate, so results may vary a surprising amount.

Since this is a significant change, release is now V1.1

Things to note

    There are 2 pairs of defines, ESC_RATE and PWM_LOW_PULSE_INTERVAL which allow you to set PWM rate.
    One pair you set ESC_RATE and it calculates PWM_LOW_PULSE_INTERVAL, the other pair vice-versa.
    PWM_LOW_PULSE_INTERVAL is measured in 10's of microSeconds (minimum 1)
    Stick-arming is now standard feature
    new define for Stick-arm side (for those non-standard folks out there )
    When the controller is not armed, no signal is sent to ESC's, so they will bleep.
    I actually quite like this (others may not) as led isn't always easy to see.
    Some ESC's are a bit fussy, and you may need to re-arm to get them to sync/start correctly.
    Sensor calibration now takes place @ arming.
    also, gyro gain pots are read @ arming, so if you change them, you must re-arm for the changes to be used


As a general note, the code (V1.1) is time critical.\\
Essentially, the program expects certain sections of the code to take a short period of time.
What this means is that if you modify the code, you must avoid putting any long delay(s) (>200uS - yes, thats long!) in the code which gets executed when armed.\\
Failure to follow this guidline will cause motors to mis-behave.

I have flown @ 450Hz with my big Quad (config) and am suitably impressed.\\
I havn't checked the results on TRI copter tho'\\
I also havn't put this on my test-bench to check PWM consistency.

and finally, thanks to manuLRK !

Thats all folks - enjoy 

(с) https://www.rcgroups.com/forums/showpost.php?p=16982107&postcount=431

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