fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 04:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Airmode - Minor rewording

Browse Source
This commit is contained in:
bresch
2018-03-23 10:35:08 +01:00
committed by Roman Bapst
parent c9d72c0d07
commit 81a80e0d56
3 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/mixer/mixer.h
+1 -1
View File
@@ -221,7 +221,7 @@ public:
/**
* @brief Set airmode. Airmode allows the mixer to increase the total thrust in order to unsaturate the motors.
*
* @param[in] airmode Dis/-activate airmode by setting it to false/true
* @param[in] airmode De/-activate airmode by setting it to false/true
*/
virtual void set_airmode(bool airmode) {};
src/lib/mixer/mixer_multirotor.cpp
+2 -2
View File
@@ -220,13 +220,13 @@ MultirotorMixer::mix(float *outputs, unsigned space)
}
} else {
roll_pitch_scale = 1 / (delta_out_max);
roll_pitch_scale = 1.0f / (delta_out_max);
boost = 1.0f - ((max_out - thrust) * roll_pitch_scale + thrust);
}
if (!_airmode) {
// disable positive boosting if not in air-mode
// boosting is positive when min_out < 0.0
// boosting can only be positive when min_out < 0.0
// roll_pitch_scale is reduced accordingly
if (boost > 0.0f) {
roll_pitch_scale = thrust / (thrust - min_out);