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Multicopter mixer - Always unsaturate low-saturated motors when possible

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bresch 2017-09-04 12:39:56 +02:00 committed by Roman Bapst
parent 01f5f8862a
commit 5da2842dbc
1 changed files with 1 additions and 9 deletions
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10
src/lib/mixer/mixer_multirotor.cpp
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@ -210,15 +210,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
// TODO: revise the saturation/boosting strategy
if (min_out < 0.0f && max_out < 1.0f && -min_out <= 1.0f - max_out) {
float max_thrust_diff = thrust * thrust_increase_factor - thrust;
if (max_thrust_diff >= -min_out) {
boost = -min_out;
} else {
boost = max_thrust_diff;
roll_pitch_scale = (thrust + boost) / (thrust - min_out);
}
boost = -min_out;
} else if (max_out > 1.0f && min_out > 0.0f && min_out >= max_out - 1.0f) {
float max_thrust_diff = thrust - thrust_decrease_factor * thrust;