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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
2016-09-27 14:42:15 +02:00
committed by Julian Oes
parent cced6fc8b2
commit c2a511d81d
5 changed files with 48 additions and 26 deletions
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src/modules/px4iofirmware/mixer.cpp
+14 -8
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@@ -232,10 +232,13 @@ mixer_tick(void)
float outputs[PX4IO_SERVO_COUNT];
unsigned mixed;
// update slew rate value
float slew_max = 2.0f * 1000.0f * dt / (r_page_servo_control_max[0] - r_page_servo_control_min[0]) / REG_TO_FLOAT(
r_setup_slew_max);
mixer_group.update_slew_rate(slew_max);
if (REG_TO_FLOAT(r_setup_slew_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 / (r_page_servo_control_max[0] - r_page_servo_control_min[0]) / REG_TO_FLOAT(
r_setup_slew_max);
mixer_group.set_max_delta_out_once(delta_out_max);
}
/* mix */
@@ -518,10 +521,13 @@ mixer_set_failsafe()
float outputs[PX4IO_SERVO_COUNT];
unsigned mixed;
// update slew rate value
float slew_max = 2.0f * 1000.0f * dt / (r_page_servo_control_max[0] - r_page_servo_control_min[0]) / REG_TO_FLOAT(
r_setup_slew_max);
mixer_group.update_slew_rate(slew_max);
if (REG_TO_FLOAT(r_setup_slew_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 / (r_page_servo_control_max[0] - r_page_servo_control_min[0]) / REG_TO_FLOAT(
r_setup_slew_max);
mixer_group.set_max_delta_out_once(delta_out_max);
}
/* mix */
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT, &r_mixer_limits);