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Scale control signals with thrust for low thrust

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Julian Oes
2012-11-06 19:02:01 -08:00
parent 08d6ade585
commit 7da799d154
1 changed files with 22 additions and 0 deletions
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apps/systemlib/mixer/mixer_multirotor.cpp
+22
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@@ -161,6 +161,28 @@ MultirotorMixer::mix(float *outputs, unsigned space)
float max = 0.0f;
float fixup_scale;
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;
if (thrust <= min_thrust) {
output_factor = 0.0f;
} 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 = max_thrust;
} else if (thrust >= endpoint_full_control) {
output_factor = max_thrust/(endpoint_full_control-max_thrust);
}
roll *= output_factor;
pitch *= output_factor;
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 +