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mixer_module: correct pwm ramp

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Before:
When the mixed throttle for the motor was exactly zero the ramp went
from the disarmed PWM value to the minimum PWM value.

When the throttle was even just slightly different from zero the ramp
made a jump up to the commanded throttle scaled between
disarmed PWM and maximum PWM, then ramped between
disarmed PWM and minimum PWM and at the end jumped up again to
the commanded throttle scaled between minimum PWM and maximum PWM.

After:
The ramp goes from disarmed PWM value to the the
commanded throttle scaled between minimum PWM and maximum PWM.
If the commanded throttle changes during the ramp then the scale and
hence also end value of the ramp changes.
This commit is contained in:
Matthias Grob
2023-06-09 21:15:08 -04:00
committed by Daniel Agar
parent 24de623989
commit 0f256718d3
1 changed files with 6 additions and 43 deletions
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src/lib/mixer_module/mixer_module.cpp
+6 -43
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@@ -598,53 +598,16 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const
case OutputLimitState::RAMP: {
hrt_abstime diff = hrt_elapsed_time(&_output_time_armed);
float progress = static_cast<float>(diff) / RAMP_TIME_US;
static constexpr int PROGRESS_INT_SCALING = 10000;
int progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
if (progress > PROGRESS_INT_SCALING) {
progress = PROGRESS_INT_SCALING;
if (progress > 1.f) {
progress = 1.f;
}
for (int i = 0; i < num_channels; i++) {
float control_value = output[i];
/* check for invalid / disabled channels */
if (!PX4_ISFINITE(control_value)) {
_current_output_value[i] = _disarmed_value[i];
continue;
}
uint16_t ramp_min_output;
/* if a disarmed output value was set, blend between disarmed and min */
if (_disarmed_value[i] > 0) {
/* safeguard against overflows */
auto disarmed = _disarmed_value[i];
if (disarmed > _min_value[i]) {
disarmed = _min_value[i];
}
int disarmed_min_diff = _min_value[i] - disarmed;
ramp_min_output = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
} else {
/* no disarmed output value set, choose min output */
ramp_min_output = _min_value[i];
}
if (_reverse_output_mask & (1 << i)) {
control_value = -1.f * control_value;
}
_current_output_value[i] = control_value * (_max_value[i] - ramp_min_output) / 2 + (_max_value[i] + ramp_min_output) /
2;
/* last line of defense against invalid inputs */
_current_output_value[i] = math::constrain(_current_output_value[i], ramp_min_output, _max_value[i]);
// Ramp from disarmed value to currently desired output that would apply without ramp
uint16_t desired_output = output_limit_calc_single(i, output[i]);
_current_output_value[i] = _disarmed_value[i] + progress * (desired_output - _disarmed_value[i]);
}
}
break;