rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #3440 from betaflight/mixer_decoupling 

mixTable() separation
This commit is contained in:
borisbstyle 2017-07-05 13:04:12 +02:00 committed by GitHub
parent a96a7b7003 277755a719
commit 2cac202447
2 changed files with 38 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
src/main/flight/mixer.c
View File

@ -497,6 +497,23 @@ void stopPwmAllMotors(void)
delayMicroseconds(1500);
}
throttle3Dstate_e get3DState(const uint16_t throttlePrevious)
{
throttle3Dstate_e throttle3Dstate;
if((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) {
throttle3Dstate = INVERTED;
} else if(rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) {
throttle3Dstate = NORMAL;
} else if((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) {
throttle3Dstate = INVERTED_TO_DEADBAND;
} else {
throttle3Dstate = NORMAL_TO_DEADBAND;
}
return throttle3Dstate;
}
void mixTable(pidProfile_t *pidProfile)
{
// Scale roll/pitch/yaw uniformly to fit within throttle range
@ -510,26 +527,33 @@ void mixTable(pidProfile_t *pidProfile)
if (feature(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Out of band handling
throttle3Dstate_e flight3DState = get3DState(throttlePrevious);
switch(flight3DState) {
case(INVERTED):
motorOutputMax = deadbandMotor3dLow;
motorOutputMin = motorOutputLow;
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
if (isMotorProtocolDshot()) mixerInversion = true;
} else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) { // Positive handling
if(isMotorProtocolDshot()) mixerInversion = true;
break;
case(NORMAL):
motorOutputMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
currentThrottleInputRange = rcCommandThrottleRange3dHigh;
} else if ((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Deadband handling from negative to positive
break;
case(INVERTED_TO_DEADBAND):
motorOutputMax = deadbandMotor3dLow;
motorOutputMin = motorOutputLow;
throttle = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
if (isMotorProtocolDshot()) mixerInversion = true;
} else { // Deadband handling from positive to negative
if(isMotorProtocolDshot()) mixerInversion = true;
break;
default:
case(NORMAL_TO_DEADBAND):
motorOutputMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
throttle = 0;

8
src/main/flight/mixer.h
View File

@ -63,6 +63,14 @@ typedef enum mixerMode
MIXER_QUADX_1234 = 26
} mixerMode_e;
typedef enum {
DEADBAND,
NORMAL,
INVERTED,
NORMAL_TO_DEADBAND,
INVERTED_TO_DEADBAND
} throttle3Dstate_e;
// Custom mixer data per motor
typedef struct motorMixer_s {
float throttle;