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[rotorcraft] motor_mixing: only lower throttle when hitting both min/max saturations

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should be a minor improvement for issue #385, but not tested in real flight.
This commit is contained in:
Felix Ruess
2013-06-09 12:37:03 +02:00
parent e8ad164cdf
commit 44dec76997
1 changed files with 8 additions and 4 deletions
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sw/airborne/subsystems/actuators/motor_mixing.c
+8 -4
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@@ -172,13 +172,17 @@ void motor_mixing_run(bool_t motors_on, bool_t override_on, pprz_t in_cmd[] ) {
if (min_cmd < MOTOR_MIXING_MIN_MOTOR && max_cmd > MOTOR_MIXING_MAX_MOTOR)
motor_mixing.nb_failure++;
if (min_cmd < MOTOR_MIXING_MIN_MOTOR) {
int32_t saturation_offset = MOTOR_MIXING_MIN_MOTOR - min_cmd;
/* In case of both min and max saturation, only lower the throttle
* instead of applying both. This should prevent your quad shooting up,
* but it might loose altitude in case of such a saturation failure.
*/
if (max_cmd > MOTOR_MIXING_MAX_MOTOR) {
int32_t saturation_offset = MOTOR_MIXING_MAX_MOTOR - max_cmd;
BoundAbs(saturation_offset, MOTOR_MIXING_MAX_SATURATION_OFFSET);
offset_commands(saturation_offset);
}
if (max_cmd > MOTOR_MIXING_MAX_MOTOR) {
int32_t saturation_offset = MOTOR_MIXING_MAX_MOTOR - max_cmd;
else if (min_cmd < MOTOR_MIXING_MIN_MOTOR) {
int32_t saturation_offset = MOTOR_MIXING_MIN_MOTOR - min_cmd;
BoundAbs(saturation_offset, MOTOR_MIXING_MAX_SATURATION_OFFSET);
offset_commands(saturation_offset);
}