From 0dd1943d7f3a218044568299bfcde4510c655e31 Mon Sep 17 00:00:00 2001
From: Ivan Efimov <gendalf44@yandex.ru>
Date: Fri, 12 Aug 2022 18:10:45 -0500
Subject: [PATCH] Added extra_motor_output_limit_hundredths

---
 src/main/cli/settings.c      | 1 +
 src/main/config/config.c     | 4 ++++
 src/main/flight/mixer_init.c | 4 +++-
 src/main/flight/pid.c        | 1 +
 src/main/flight/pid.h        | 1 +
 5 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index c3b8bb4ce47..ad35ad5ab59 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1163,6 +1163,7 @@ const clivalue_t valueTable[] = {
 #endif
 
     { PARAM_NAME_MOTOR_OUTPUT_LIMIT, VAR_UINT8 | PROFILE_VALUE,  .config.minmaxUnsigned = { MOTOR_OUTPUT_LIMIT_PERCENT_MIN, MOTOR_OUTPUT_LIMIT_PERCENT_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, motor_output_limit) },
+    { "extra_motor_output_limit_hundredths", VAR_UINT8 | PROFILE_VALUE,  .config.minmaxUnsigned = { 0, 99 }, PG_PID_PROFILE, offsetof(pidProfile_t, extra_motor_output_limit_hundredths) },
     { "auto_profile_cell_count",     VAR_INT8 | PROFILE_VALUE,  .config.minmax = { AUTO_PROFILE_CELL_COUNT_CHANGE, MAX_AUTO_DETECT_CELL_COUNT }, PG_PID_PROFILE, offsetof(pidProfile_t, auto_profile_cell_count) },
 
 #ifdef USE_LAUNCH_CONTROL
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 871046b3ca4..3d7b9cbbf04 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -293,6 +293,10 @@ static void validateAndFixConfig(void)
             pidProfilesMutable(i)->motor_output_limit = 100;
         }
 
+        if (pidProfilesMutable(i)->extra_motor_output_limit_hundredths >= 100) {
+            pidProfilesMutable(i)->extra_motor_output_limit_hundredths = 0;
+        }
+
         if (pidProfilesMutable(i)->auto_profile_cell_count > MAX_AUTO_DETECT_CELL_COUNT || pidProfilesMutable(i)->auto_profile_cell_count < AUTO_PROFILE_CELL_COUNT_CHANGE) {
             pidProfilesMutable(i)->auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY;
         }
diff --git a/src/main/flight/mixer_init.c b/src/main/flight/mixer_init.c
index 6a93f7bb322..2fd550d22c1 100644
--- a/src/main/flight/mixer_init.c
+++ b/src/main/flight/mixer_init.c
@@ -43,6 +43,7 @@
 #include "sensors/battery.h"
 
 #include "mixer_init.h"
+#include "common/maths.h"
 
 PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
 
@@ -286,7 +287,8 @@ void initEscEndpoints(void)
 {
     float motorOutputLimit = 1.0f;
     if (currentPidProfile->motor_output_limit < 100) {
-        motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
+        motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f + currentPidProfile->extra_motor_output_limit_hundredths / 10000.0f;
+        motorOutputLimit = constrainf(motorOutputLimit, 0.0f, 1.0f);
     }
     motorInitEndpoints(motorConfig(), motorOutputLimit, &mixerRuntime.motorOutputLow, &mixerRuntime.motorOutputHigh, &mixerRuntime.disarmMotorOutput, &mixerRuntime.deadbandMotor3dHigh, &mixerRuntime.deadbandMotor3dLow);
 }
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 6722dab7dfe..654bc836b7b 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -195,6 +195,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .d_min_gain = 37,
         .d_min_advance = 20,
         .motor_output_limit = 100,
+        .extra_motor_output_limit_hundredths = 0,
         .auto_profile_cell_count = AUTO_PROFILE_CELL_COUNT_STAY,
         .transient_throttle_limit = 0,
         .profileName = { 0 },
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index a38e698a3a0..0a6bed04329 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -194,6 +194,7 @@ typedef struct pidProfile_s {
     uint8_t d_min_gain;                     // Gain factor for amount of gyro / setpoint activity required to boost D
     uint8_t d_min_advance;                  // Percentage multiplier for setpoint input to boost algorithm
     uint8_t motor_output_limit;             // Upper limit of the motor output (percent)
+    uint8_t extra_motor_output_limit_hundredths;
     int8_t auto_profile_cell_count;         // Cell count for this profile to be used with if auto PID profile switching is used
     uint8_t transient_throttle_limit;       // Maximum DC component of throttle change to mix into throttle to prevent airmode mirroring noise
     char profileName[MAX_PROFILE_NAME_LENGTH + 1]; // Descriptive name for profile