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px4dev
2012-12-29 16:01:24 -08:00
parent f9520ee39d
commit d81edb09cf
12 changed files with 129 additions and 77 deletions
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apps/systemlib/mixer/mixer_multirotor.cpp
+7 -3
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@@ -166,10 +166,12 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
debug("multirotor parse failed on '%s'", buf);
return nullptr;
}
if (used > (int)buflen) {
debug("multirotor spec used %d of %u", used, buflen);
return nullptr;
}
buflen -= used;
if (!strcmp(geomname, "4+")) {
@@ -226,10 +228,12 @@ MultirotorMixer::mix(float *outputs, unsigned space)
/* keep roll, pitch and yaw control to 0 below min thrust */
if (thrust <= min_thrust) {
output_factor = 0.0f;
/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
} else if (thrust < startpoint_full_control && thrust > min_thrust) {
output_factor = (thrust/max_thrust)/(startpoint_full_control-min_thrust);
/* and then stay at full control */
output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust);
/* and then stay at full control */
} else {
output_factor = max_thrust;
}