Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 07:53:43 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/actuators/motor_mixing.c
+8 -4
View File
@@ -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) if (min_cmd < MOTOR_MIXING_MIN_MOTOR && max_cmd > MOTOR_MIXING_MAX_MOTOR)
motor_mixing.nb_failure++; motor_mixing.nb_failure++;
if (min_cmd < MOTOR_MIXING_MIN_MOTOR) { /* In case of both min and max saturation, only lower the throttle
int32_t saturation_offset = MOTOR_MIXING_MIN_MOTOR - min_cmd; * 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); BoundAbs(saturation_offset, MOTOR_MIXING_MAX_SATURATION_OFFSET);
offset_commands(saturation_offset); offset_commands(saturation_offset);
} }
if (max_cmd > MOTOR_MIXING_MAX_MOTOR) { else if (min_cmd < MOTOR_MIXING_MIN_MOTOR) {
int32_t saturation_offset = MOTOR_MIXING_MAX_MOTOR - max_cmd; int32_t saturation_offset = MOTOR_MIXING_MIN_MOTOR - min_cmd;
BoundAbs(saturation_offset, MOTOR_MIXING_MAX_SATURATION_OFFSET); BoundAbs(saturation_offset, MOTOR_MIXING_MAX_SATURATION_OFFSET);
offset_commands(saturation_offset); offset_commands(saturation_offset);
} }