This is more accurate, because if we use -1000 as lower bound, a very large
yaw command can reduce thrust more than needed.
The difference can be seen in the following example
(with roll/pitch airmode):
p_dot_sp = -1.0 # roll acceleration
q_dot_sp = 0.9 # pitch acceleration
r_dot_sp = -0.9 # yaw acceleration
To run:
cd src/lib/mixer
make tests
This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.
The python script also allows to prototype new mixer algorithms.
It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.
Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
Provides a more generic desaturation algorithm, making it easier to
handle the different mixer strategies.
python reference implementation:
https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
The behavior for non-airmode and roll/pitch airmode should be the
same as before.
CPU load is slightly higher for the non-airmode case (+0.5%), for airmode
it is the same.
If not in air-mode the mixer is not able to apply positive boosting
and roll_pitch_scale is recomputed to apply symmetric - reduced - thrust.
This has the consequence to cut completely the outputs when the thrust is
set to zero.
Align the way motor output is computed with the model used in the mixer generation script.
previous:
`out = (roll_gain*roll + pitch_gain*pitch + yaw_gain*yaw + thrust)*out_gain`
new:
`out = roll_gain*roll + pitch_gain*pitch + yaw_gain*yaw + thrust_gain*thrust`
which is the standard matrix*vector multiplication.
This commit has 0 effect on symmetric platforms (i.e. most) as thrust_gain==1 on these platforms.
On asymmetric platform --where some thrust_gain are lower than 1-- the previous formulation resulted in coupling between thrust and other axes.
fixes#8628
Beat Küng