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multirotor mixer slew rate limiting: naming and fixes

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- avoid dividing by zero when calculating max delta output
- better comments when calculating max delta output
- better naming of functions and variables

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-09-30 13:55:53 +02:00
committed by Julian Oes
parent cced6fc8b2
commit c2a511d81d
5 changed files with 48 additions and 26 deletions
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src/drivers/px4fmu/fmu.cpp
+6 -2
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@@ -1075,8 +1075,12 @@ PX4FMU::cycle()
dt = 0.02f;
}
float slew_max = 2.0f * 1000.0f * dt / (_max_pwm[0] - _min_pwm[0]) / _mot_t_max;
_mixers->update_slew_rate(slew_max);
if (_mot_t_max > FLT_EPSILON) {
// maximum value the ouputs of the multirotor mixer are allowed to change in this cycle
// factor 2 is needed because actuator ouputs are in the range [-1,1]
float delta_out_max = 2.0f * 1000.0f * dt / (_max_pwm[0] - _min_pwm[0]) / _mot_t_max;
_mixers->set_max_delta_out_once(delta_out_max);
}
/* do mixing */
float outputs[_max_actuators];