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Multirotor mixer: idle_speed (aka deadband) fixed

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Anton Babushkin
2014-05-15 15:44:56 +02:00
parent 8d1df9ba87
commit d9a7e528b0
2 changed files with 5 additions and 9 deletions
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src/modules/systemlib/mixer/mixer.h
+1 -1
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@@ -516,7 +516,7 @@ private:
float _roll_scale;
float _pitch_scale;
float _yaw_scale;
float _deadband;
float _idle_speed;
unsigned _rotor_count;
const Rotor *_rotors;
src/modules/systemlib/mixer/mixer_multirotor.cpp
+4 -8
View File
@@ -176,12 +176,12 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
float roll_scale,
float pitch_scale,
float yaw_scale,
float deadband) :
float idle_speed) :
Mixer(control_cb, cb_handle),
_roll_scale(roll_scale),
_pitch_scale(pitch_scale),
_yaw_scale(yaw_scale),
_deadband(-1.0f + deadband), /* shift to output range here to avoid runtime calculation */
_idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */
_rotor_count(_config_rotor_count[geometry]),
_rotors(_config_index[geometry])
{
@@ -338,15 +338,11 @@ MultirotorMixer::mix(float *outputs, unsigned space)
scale_out = 1.0f;
}
/* scale outputs to range _idle_speed..1 */
for (unsigned i = 0; i < _rotor_count; i++) {
outputs[i] = -1.0f + (outputs[i] * 2 * scale_out);
outputs[i] = _idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out);
}
/* ensure outputs are out of the deadband */
for (unsigned i = 0; i < _rotor_count; i++)
if (outputs[i] < _deadband)
outputs[i] = _deadband;
return _rotor_count;
}