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implemented mapping between desired thrust and applied pwm in

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multirotor mixer.

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-10-09 14:21:13 +02:00
committed by Lorenz Meier
parent 22733b1501
commit d221313dfb
9 changed files with 95 additions and 3 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+13
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@@ -91,6 +91,7 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
_yaw_scale(yaw_scale),
_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
_delta_out_max(0.0f),
_thrust_factor(0.0f),
_limits_pub(),
_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry]),
@@ -358,6 +359,18 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
yaw * _rotors[i].yaw_scale +
thrust + boost;
/*
implement simple model for static relationship between applied motor pwm and motor thrust
model: thrust = (1 - _thrust_factor) * PWM + _thrust_factor * PWM^2
this model assumes normalized input / output in the range [0,1] so this is the right place
to do it as at this stage the outputs are in that range.
*/
if (_thrust_factor > 0.0f) {
outputs[i] = -(1.0f - _thrust_factor) / (2.0f * _thrust_factor) + sqrtf((1.0f - _thrust_factor) *
(1.0f - _thrust_factor) / (4.0f * _thrust_factor * _thrust_factor) + (outputs[i] < 0.0f ? 0.0f : outputs[i] /
_thrust_factor));
}
outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed)), _idle_speed, 1.0f);
}