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Multicopter mixer - Always unsaturate high-saturated motors when possible

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bresch
2017-09-04 12:51:48 +02:00
committed by Roman Bapst
parent df194b1de4
commit 096e2ec629
1 changed files with 1 additions and 9 deletions
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src/lib/mixer/mixer_multirotor.cpp
+1 -9
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@@ -213,15 +213,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
boost = -min_out;
} 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) {
boost = -(max_out - 1.0f);
} else {
boost = -max_thrust_diff;
roll_pitch_scale = (1 - (thrust + boost)) / (max_out - thrust);
}
boost = -(max_out - 1.0f);
} 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;