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MC mixer input limiting implemented.

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This commit is contained in:
Anton Babushkin 2014-05-14 13:45:43 +02:00
parent b60964eb9c
commit ae1faa6de6
1 changed files with 9 additions and 4 deletions
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13
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -67,6 +67,11 @@
namespace
{
float constrain(float val, float min, float max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
/*
* These tables automatically generated by multi_tables - do not edit.
*/
@ -276,11 +281,11 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
unsigned
MultirotorMixer::mix(float *outputs, unsigned space)
{
float roll = get_control(0, 0) * _roll_scale;
float roll = constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f);
//lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
float pitch = get_control(0, 1) * _pitch_scale;
float yaw = get_control(0, 2) * _yaw_scale;
float thrust = get_control(0, 3);
float pitch = constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f);
float yaw = constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f);
float thrust = constrain(get_control(0, 3), 0.0f, 1.0f);
//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
float min_out = 0.0f;
float max_out = 0.0f;