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Rework Airmode saturation // Slow down de-saturation process

This commit is contained in:
borisbstyle 2016-03-02 23:05:23 +01:00
parent a058bb3843
commit 27c2a5db79
2 changed files with 10 additions and 10 deletions
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2
src/main/config/config.c
View File

@ -334,7 +334,7 @@ void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) {
void resetMixerConfig(mixerConfig_t *mixerConfig) {
mixerConfig->yaw_motor_direction = 1;
mixerConfig->yaw_jump_prevention_limit = 100;
mixerConfig->yaw_jump_prevention_limit = 200;
#ifdef USE_SERVOS
mixerConfig->tri_unarmed_servo = 1;
mixerConfig->servo_lowpass_freq = 400;

18
src/main/flight/mixer.c
View File

@ -781,9 +781,16 @@ void mixTable(void)
{
uint32_t i;
q_number_t vbatCompensationFactor;
static q_number_t mixReduction;
uint8_t axis;
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
if (motorLimitReached) {
for (axis = 0; axis < 3; axis++) axisPID[axis] *= constrain(qPercent(mixReduction), 10, 100) / 100;
if (debugMode == DEBUG_AIRMODE) debug[0] = qPercent(mixReduction);
}
if (IS_RC_MODE_ACTIVE(BOXACROPLUS)) {
acroPlusApply();
}
@ -850,31 +857,24 @@ void mixTable(void)
if (rollPitchYawMixRange > throttleRange) {
motorLimitReached = true;
q_number_t mixReduction;
qConstruct(&mixReduction, throttleRange, rollPitchYawMixRange, Q12_NUMBER);
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
}
// Get the maximum correction by setting offset to center
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
}
if (debugMode == DEBUG_AIRMODE) debug[0] = rollPitchYawMixRange;
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);
if (debugMode == DEBUG_AIRMODE) debug[0] = 0;
}
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (i = 0; i < motorCount; i++) {
if (debugMode == DEBUG_AIRMODE && i < 3) debug[i] = rollPitchYawMix[i];
motor[i] = rollPitchYawMix[i] + constrain(throttle * currentMixer[i].throttle, throttleMin, throttleMax);
if (isFailsafeActive) {