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Multicopter mixer - Rewrite unnecessarily complicated conditions

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bresch 2017-09-04 12:43:35 +02:00 committed by Roman Bapst
parent 5da2842dbc
commit df194b1de4
1 changed files with 4 additions and 4 deletions
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8
src/lib/mixer/mixer_multirotor.cpp
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@ -209,10 +209,10 @@ MultirotorMixer::mix(float *outputs, unsigned space)
// which may result in motor saturation after thrust boost is applied
// TODO: revise the saturation/boosting strategy
if (min_out < 0.0f && max_out < 1.0f && -min_out <= 1.0f - max_out) {
if (min_out < 0.0f && max_out < 1.0f && max_out - min_out <= 1.0f) {
boost = -min_out;
} else if (max_out > 1.0f && min_out > 0.0f && min_out >= max_out - 1.0f) {
} else if (max_out > 1.0f && min_out > 0.0f && max_out - min_out <= 1.0f) {
float max_thrust_diff = thrust - thrust_decrease_factor * thrust;
if (max_thrust_diff >= max_out - 1.0f) {
@ -223,12 +223,12 @@ MultirotorMixer::mix(float *outputs, unsigned space)
roll_pitch_scale = (1 - (thrust + boost)) / (max_out - thrust);
}
} else if (min_out < 0.0f && max_out < 1.0f && -min_out > 1.0f - max_out) {
} else if (min_out < 0.0f && max_out < 1.0f && max_out - min_out > 1.0f) {
float max_thrust_diff = thrust * thrust_increase_factor - thrust;
boost = math::constrain(-min_out - (1.0f - max_out) / 2.0f, 0.0f, max_thrust_diff);
roll_pitch_scale = (thrust + boost) / (thrust - min_out);
} else if (max_out > 1.0f && min_out > 0.0f && min_out < max_out - 1.0f) {
} else if (max_out > 1.0f && min_out > 0.0f && max_out - min_out > 1.0f) {
float max_thrust_diff = thrust - thrust_decrease_factor * thrust;
boost = math::constrain(-(max_out - 1.0f - min_out) / 2.0f, -max_thrust_diff, 0.0f);
roll_pitch_scale = (1 - (thrust + boost)) / (max_out - thrust);