Merge pull request #10370 from borisbstyle/new_mixer

src/main/cli/settings.c

@@ -501,6 +501,10 @@ static const char * const lookupTableOsdLogoOnArming[] = {
 };
 #endif
 
+static const char* const lookupTableMixerType[] = {
+    "LEGACY", "LINEAR", "DYNAMIC",
+};
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -622,6 +626,7 @@ const lookupTableEntry_t lookupTables[] = {
 #ifdef USE_OSD
     LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
 #endif
+    LOOKUP_TABLE_ENTRY(lookupTableMixerType),
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -907,6 +912,7 @@ const clivalue_t valueTable[] = {
 
 // PG_MIXER_CONFIG
     { "yaw_motors_reversed",        VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motors_reversed) },
+    { "mixer_type",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MIXER_TYPE }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, mixer_type) },
     { "crashflip_motor_percent",    VAR_UINT8 |  MASTER_VALUE,  .config.minmaxUnsigned = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_motor_percent) },
     { "crashflip_expo",    VAR_UINT8 |  MASTER_VALUE,  .config.minmaxUnsigned = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_expo) },
 

src/main/cli/settings.h

@@ -141,6 +141,7 @@ typedef enum {
 #ifdef USE_OSD
     TABLE_OSD_LOGO_ON_ARMING,
 #endif
+    TABLE_MIXER_TYPE,
 
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;

src/main/flight/mixer.c

@@ -425,6 +425,51 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
 }
 #endif
 
+static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled) {
+    const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
+    const float motorMixDelta = 0.5f * motorMixRange;
+
+    for (int i = 0; i < mixerRuntime.motorCount; ++i) {
+        if (airmodeEnabled || throttle > 0.5f) {
+            if (mixerConfig()->mixer_type == MIXER_LINEAR) {
+                motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + motorMixDelta, motorMix[i] - motorMixDelta);
+            } else {
+                motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + ABS(motorMix[i]), motorMix[i] - ABS(motorMix[i]));
+            }
+        }
+        motorMix[i] /= motorMixNormalizationFactor;
+    }
+}
+
+static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const float motorMixMax, const bool airmodeEnabled) {
+#ifdef USE_AIRMODE_LPF
+    const float unadjustedThrottle = throttle;
+    throttle += pidGetAirmodeThrottleOffset();
+    float airmodeThrottleChange = 0;
+#endif
+
+    if (motorMixRange > 1.0f) {
+        for (int i = 0; i < mixerRuntime.motorCount; i++) {
+            motorMix[i] /= motorMixRange;
+        }
+        // Get the maximum correction by setting offset to center when airmode enabled
+        if (airmodeEnabled) {
+            throttle = 0.5f;
+        }
+    } else {
+        if (airmodeEnabled || throttle > 0.5f) {
+            throttle = constrainf(throttle, -motorMixMin, 1.0f - motorMixMax);
+#ifdef USE_AIRMODE_LPF
+            airmodeThrottleChange = constrainf(unadjustedThrottle, -motorMixMin, 1.0f - motorMixMax) - unadjustedThrottle;
+#endif
+        }
+    }
+
+#ifdef USE_AIRMODE_LPF
+    pidUpdateAirmodeLpf(airmodeThrottleChange);
+#endif
+}
+
 FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
 {
     // Find min and max throttle based on conditions. Throttle has to be known before mixing
@@ -549,35 +594,13 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
     }
 #endif
 
-#ifdef USE_AIRMODE_LPF
-    const float unadjustedThrottle = throttle;
-    throttle += pidGetAirmodeThrottleOffset();
-    float airmodeThrottleChange = 0;
-#endif
-
-    // apply airmode
     motorMixRange = motorMixMax - motorMixMin;
-    if (motorMixRange > 1.0f) {
-        for (int i = 0; i < mixerRuntime.motorCount; i++) {
-            motorMix[i] /= motorMixRange;
-        }
-        // Get the maximum correction by setting offset to center when airmode enabled
-        if (airmodeEnabled) {
-            throttle = 0.5f;
-        }
+    if (mixerConfig()->mixer_type > MIXER_LEGACY) {
+        applyMixerAdjustmentLinear(motorMix, airmodeEnabled);
     } else {
-        if (airmodeEnabled || throttle > 0.5f) {  // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
-            throttle = constrainf(throttle, -motorMixMin, 1.0f - motorMixMax);
-#ifdef USE_AIRMODE_LPF
-            airmodeThrottleChange = constrainf(unadjustedThrottle, -motorMixMin, 1.0f - motorMixMax) - unadjustedThrottle;
-#endif
-        }
+        applyMixerAdjustment(motorMix, motorMixMin, motorMixMax, airmodeEnabled);
     }
 
-#ifdef USE_AIRMODE_LPF
-    pidUpdateAirmodeLpf(airmodeThrottleChange);
-#endif
-
     if (featureIsEnabled(FEATURE_MOTOR_STOP)
         && ARMING_FLAG(ARMED)
         && !mixerRuntime.feature3dEnabled

src/main/flight/mixer.h

@@ -60,6 +60,13 @@ typedef enum mixerMode
     MIXER_QUADX_1234 = 26
 } mixerMode_e;
 
+typedef enum mixerType
+{
+    MIXER_LEGACY = 0,
+    MIXER_LINEAR = 1,
+    MIXER_DYNAMIC = 2,
+} mixerType_e;
+
 // Custom mixer data per motor
 typedef struct motorMixer_s {
     float throttle;
@@ -82,6 +89,7 @@ typedef struct mixerConfig_s {
     bool yaw_motors_reversed;
     uint8_t crashflip_motor_percent;
     uint8_t crashflip_expo;
+    uint8_t mixer_type;
 } mixerConfig_t;
 
 PG_DECLARE(mixerConfig_t, mixerConfig);

src/main/flight/mixer_init.c

@@ -50,7 +50,8 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .mixerMode = DEFAULT_MIXER,
     .yaw_motors_reversed = false,
     .crashflip_motor_percent = 0,
-    .crashflip_expo = 35
+    .crashflip_expo = 35,
+    .mixer_type = MIXER_LEGACY,
 );
 
 PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);