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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/systemlib/mixer/mixer_multirotor.cpp
+7 -7
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@@ -90,7 +90,7 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
_pitch_scale(pitch_scale),
_yaw_scale(yaw_scale),
_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
_slew_rate_max(0.0f),
_delta_out_max(0.0f),
_limits_pub(),
_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry]),
@@ -375,14 +375,14 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed)), _idle_speed, 1.0f);
// slew rate limiting
if (_slew_rate_max > 0.0f) {
if (_delta_out_max > 0.0f) {
float delta_out = outputs[i] - _outputs_prev[i];
if (delta_out > _slew_rate_max) {
outputs[i] = _outputs_prev[i] + _slew_rate_max;
if (delta_out > _delta_out_max) {
outputs[i] = _outputs_prev[i] + _delta_out_max;
} else if (delta_out < -_slew_rate_max) {
outputs[i] = _outputs_prev[i] - _slew_rate_max;
} else if (delta_out < -_delta_out_max) {
outputs[i] = _outputs_prev[i] - _delta_out_max;
}
}
@@ -391,7 +391,7 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
}
// this will force the caller of the mixer to always supply new slew rate values, otherwise no slew rate limiting will happen
_slew_rate_max = 0.0f;
_delta_out_max = 0.0f;
return _rotor_count;
}