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Apply motors configuration without reboot

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This commit is contained in:
Oleg Kalachev
2026-01-27 09:56:39 +03:00
parent 40bdaacedb
commit 6c41f65ef9
5 changed files with 9 additions and 3 deletions
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2
docs/usage.md
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@@ -143,8 +143,6 @@ If using brushless motors and ESCs:
1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical). 1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical).
2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical). 2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical).
Reboot the drone to apply the changes.
> [!CAUTION] > [!CAUTION]
> **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them. > **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.

2
flix/cli.ino
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@@ -94,7 +94,7 @@ void doCommand(String str, bool echo = false) {
} else if (command == "p") { } else if (command == "p") {
bool success = setParameter(arg0.c_str(), arg1.toFloat()); bool success = setParameter(arg0.c_str(), arg1.toFloat());
if (success) { if (success) {
print("%s = %g\n", arg0.c_str(), arg1.toFloat()); print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
} else { } else {
print("Parameter not found: %s\n", arg0.c_str()); print("Parameter not found: %s\n", arg0.c_str());
} }

1
flix/motors.ino
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@@ -24,6 +24,7 @@ void setupMotors() {
// configure pins // configure pins
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
ledcAttach(motorPins[i], pwmFrequency, pwmResolution); ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // if re-initializing
} }
sendMotors(); sendMotors();
print("Motors initialized\n"); print("Motors initialized\n");

6
flix/parameters.ino
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@@ -120,6 +120,11 @@ void setupParameters() {
} }
} }
void afterParameterChange(String name, const float value) {
if (name == "MOT_PWM_FREQ" || name == "MOT_PWM_RES") setupMotors();
if (name == "MOT_PIN_FL" || name == "MOT_PIN_FR" || name == "MOT_PIN_RL" || name == "MOT_PIN_RR") setupMotors();
}
int parametersCount() { int parametersCount() {
return sizeof(parameters) / sizeof(parameters[0]); return sizeof(parameters) / sizeof(parameters[0]);
} }
@@ -148,6 +153,7 @@ bool setParameter(const char *name, const float value) {
if (strcasecmp(parameter.name, name) == 0) { if (strcasecmp(parameter.name, name) == 0) {
if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
parameter.setValue(value); parameter.setValue(value);
afterParameterChange(name, value);
return true; return true;
} }
} }

1
gazebo/Arduino.h
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@@ -165,6 +165,7 @@ void delay(uint32_t ms) {
bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; } bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
bool ledcWrite(uint8_t pin, uint32_t duty) { return true; } bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }
unsigned long __micros; unsigned long __micros;
unsigned long __resetTime = 0; unsigned long __resetTime = 0;