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Bug Fix(es): 3D-thrust ranges fixed to -1..1 and manual z maps to negative z-thrust now

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- The range for 3D-thrust in the 6-DOF multirotor mixer is changed to -1 to 1 now (fixed from 0 to 1)
- The Z thrust in the 6-DOF multirotor mixer is mapped to the Z-thrust command now (fixed from thrust command)
- The manual Z command in the rate controller maps to the negative Z-thrust (fixed from positive Z)
- The variable _thrust_body_sp in the rate controller renamed to _thrust_sp to be compatible with the older variable removed in the last commit
- The code tested in TakeOff, Manual, Hold, Position and Land modes on both tilted hex and iris

Accepting and working with 3D thrust commands now
This commit is contained in:
Azarakhsh Keipour
2019-09-30 18:25:11 -04:00
parent 3a321302f0
commit 400f8ea4be
3 changed files with 17 additions and 17 deletions
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src/lib/mixer/MultirotorMixer/MultirotorMixer6dof.cpp
+3 -3
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@@ -336,9 +336,9 @@ MultirotorMixer6dof::mix(float *outputs, unsigned space)
float roll = math::constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f);
float pitch = math::constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f);
float yaw = math::constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f);
float x_thrust = math::constrain(get_control(0, 8), 0.0f, 1.0f);
float y_thrust = math::constrain(get_control(0, 9), 0.0f, 1.0f);
float z_thrust = - math::constrain(get_control(0, 3), 0.0f, 1.0f);
float x_thrust = math::constrain(get_control(0, 8), -1.0f, 1.0f);
float y_thrust = math::constrain(get_control(0, 9), -1.0f, 1.0f);
float z_thrust = math::constrain(get_control(0, 10), -1.0f, 1.0f);
// clean out class variable used to capture saturation
_saturation_status.value = 0;