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systemlib mixer: Add public method for multi_rotor saturation status

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Paul Riseborough
2016-11-24 16:03:03 +11:00
committed by Lorenz Meier
parent eb67686b11
commit 8b55c8ec55
5 changed files with 49 additions and 13 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+6
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@@ -312,6 +312,7 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
if (min_out < 0.0f) {
_saturation_status.flags.motor_neg = true;
}
if (max_out > 1.0f) {
_saturation_status.flags.motor_pos = true;
}
@@ -334,6 +335,7 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
yaw = -((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost) / _rotors[i].yaw_scale;
}
} else if (out > 1.0f) {
// allow to reduce thrust to get some yaw response
float thrust_reduction = fminf(0.15f, out - 1.0f);
@@ -506,3 +508,7 @@ MultirotorMixer::groups_required(uint32_t &groups)
groups |= (1 << 0);
}
uint16_t MultirotorMixer::get_saturation_status()
{
return _saturation_status.value;
}