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Got rid of the control limitation at high throttle

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Julian Oes
2012-11-07 16:24:12 -08:00
parent 2b5f551838
commit 0b5da8b599
1 changed files with 7 additions and 7 deletions
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apps/systemlib/mixer/mixer_multirotor.cpp
+7 -7
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@@ -161,20 +161,21 @@ MultirotorMixer::mix(float *outputs, unsigned space)
float max = 0.0f;
float fixup_scale;
/* use an output factor to prevent too strong control signals at low throttle */
float min_thrust = 0.05f;
float max_thrust = 1.0f;
float output_factor = 0.0f;
float startpoint_full_control = 0.20f;
float endpoint_full_control = 0.80f;
float output_factor;
/* 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 */
} else if (thrust < startpoint_full_control && thrust > min_thrust) {
output_factor = (thrust/max_thrust)/startpoint_full_control;
} else if (thrust >= startpoint_full_control && thrust < endpoint_full_control) {
output_factor = (thrust/max_thrust)/(startpoint_full_control-min_thrust);
/* and then stay at full control */
} else {
output_factor = max_thrust;
} else if (thrust >= endpoint_full_control) {
output_factor = max_thrust/(endpoint_full_control-max_thrust);
}
roll *= output_factor;
@@ -182,7 +183,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
yaw *= output_factor;
/* perform initial mix pass yielding un-bounded outputs */
for (unsigned i = 0; i < _rotor_count; i++) {
float tmp = roll * _rotors[i].roll_scale +