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Fix limiting in mc mixer

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This commit is contained in:
Anton Babushkin 2015-03-21 12:51:27 +01:00
parent 49834b11cb
commit 95be7c2289
1 changed files with 11 additions and 2 deletions
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13
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -244,14 +244,23 @@ MultirotorMixer::mix(float *outputs, unsigned space)
if (min_out < 0.0f) {
float scale_in = thrust / (thrust - min_out);
max_out = 0.0f;
/* mix again with adjusted controls */
for (unsigned i = 0; i < _rotor_count; i++) {
outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust;
float out = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust;
/* update max output value */
if (out > max_out) {
max_out = out;
}
outputs[i] = out;
}
_limits.roll_pitch = true;
} else {
/* roll/pitch mixed without limiting, add yaw control */
/* roll/pitch mixed without lower side limiting, add yaw control */
for (unsigned i = 0; i < _rotor_count; i++) {
outputs[i] += yaw * _rotors[i].yaw_scale;
}