philip/MDH-UAV-Control-System
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Some changes to yaw inversion and changed some possible negative ints to int

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This commit is contained in:
philsson 2016-10-11 18:02:11 +02:00
parent 33398e756c
commit 20f006a0ca
2 changed files with 5 additions and 5 deletions
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2
UAV-ControlSystem/inc/drivers/motormix.h
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@ -45,7 +45,7 @@ typedef struct {
uint16_t minCheck; // In Non Airmode: If throttle is below minCheck we set motors to minCommand
bool pid_at_min_throttle; // When enabled PIDs are used at minimum throttle
bool motorstop; // If enabled motors will stop spinning at no throttle when Armed
uint8_t yaw_motor_direction; // Default should be 1. Can be either -1 or 1
bool yaw_reverse_direction; // Default should be 1. Can be either -1 or 1
} mixerConfig_s;
/* Global mixerConfig to bee available to EEPROM */

8
UAV-ControlSystem/src/drivers/motormix.c
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@ -93,7 +93,7 @@ void mix()
/* Calculate what "hover" could be. Not used now but might be useful later */
//uint16_t throttleIdle = mixerConfig.minThrottle + (throttleRange / 2);
uint16_t RPY_Mix[MOTOR_COUNT]; // Roll Pitch and Yaw variables array
int16_t RPY_Mix[MOTOR_COUNT]; // Roll Pitch and Yaw variables array
uint16_t RPY_Mix_Min = 0; // Stores the minimum desired command for any motor
uint16_t RPY_Mix_Max = 0; // Maximum desired command for any motor
uint16_t throttle = sbusChannelData.chan3; // Import throttle value from remote
@ -111,7 +111,7 @@ void mix()
RPY_Mix[i] = \
PID_Out[PITCH] * mixerUAV[i].pitch + \
PID_Out[ROLL] * mixerUAV[i].roll + \
PID_Out[YAW] * mixerUAV[i].yaw * mixerConfig.yaw_motor_direction;
PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
// Update min and max values
if (RPY_Mix[i] > RPY_Mix_Max) RPY_Mix_Max = RPY_Mix[i];
@ -167,13 +167,13 @@ void mix()
throttle * mixerUAV[i].throttle + \
PID_Out[PITCH] * mixerUAV[i].pitch + \
PID_Out[ROLL] * mixerUAV[i].roll + \
PID_Out[YAW] * mixerUAV[i].yaw * mixerConfig.yaw_motor_direction;
PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
// Find the maximum motor output
if (RPY_Mix[i] > maxMotor) maxMotor = RPY_Mix[i];
}
uint16_t maxThrottleDifference = 0;
int16_t maxThrottleDifference = 0;
if (maxMotor > mixerConfig.maxThrottle)
maxThrottleDifference = maxMotor - mixerConfig.maxThrottle;