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Multicopter mixer - Remove arbitraty boost gain during saturation

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bresch
2018-03-23 10:35:08 +01:00
committed by Roman Bapst
parent 096e2ec629
commit 450e7c6774
1 changed files with 3 additions and 10 deletions
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src/lib/mixer/mixer_multirotor.cpp
+3 -10
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@@ -179,10 +179,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
// clean out class variable used to capture saturation
_saturation_status.value = 0;
// thrust boost parameters
float thrust_increase_factor = 1.5f;
float thrust_decrease_factor = 0.6f;
/* perform initial mix pass yielding unbounded outputs, ignore yaw */
for (unsigned i = 0; i < _rotor_count; i++) {
float out = roll * _rotors[i].roll_scale +
@@ -216,18 +212,15 @@ MultirotorMixer::mix(float *outputs, unsigned space)
boost = -(max_out - 1.0f);
} else if (min_out < 0.0f && max_out < 1.0f && max_out - min_out > 1.0f) {
float max_thrust_diff = thrust * thrust_increase_factor - thrust;
boost = math::constrain(-min_out - (1.0f - max_out) / 2.0f, 0.0f, max_thrust_diff);
boost = -min_out - (1.0f - max_out) / 2.0f;
roll_pitch_scale = (thrust + boost) / (thrust - min_out);
} else if (max_out > 1.0f && min_out > 0.0f && max_out - min_out > 1.0f) {
float max_thrust_diff = thrust - thrust_decrease_factor * thrust;
boost = math::constrain(-(max_out - 1.0f - min_out) / 2.0f, -max_thrust_diff, 0.0f);
boost = -(max_out - min_out - 1.0f) / 2.0f;
roll_pitch_scale = (1 - (thrust + boost)) / (max_out - thrust);
} else if (min_out < 0.0f && max_out > 1.0f) {
boost = math::constrain(-(max_out - 1.0f + min_out) / 2.0f, thrust_decrease_factor * thrust - thrust,
thrust_increase_factor * thrust - thrust);
boost = -(max_out - 1.0f + min_out) / 2.0f;
roll_pitch_scale = (thrust + boost) / (thrust - min_out);
}