philip/MDH-UAV-Control-System
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Some more fixes on mixer. Not working well!

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This commit is contained in:
philsson 2016-10-25 09:50:23 +02:00
parent 4da4736257
commit 6bdcb6e853
1 changed files with 8 additions and 5 deletions
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13
UAV-ControlSystem/src/drivers/motormix.c
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@ -199,14 +199,16 @@ void mix()
PidProfile[PID_ID_GYRO].PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1); PidProfile[PID_ID_GYRO].PID_Out[YAW] * mixerUAV[i].yaw * ((mixerConfig.yaw_reverse_direction) ? -1 : 1);
} }
for (int i = 0; i < MOTOR_COUNT; i++)
// Find the minimum and maximum motor output
if (RPY_Mix[i] < RPY_Mix_Min) RPY_Mix_Min = RPY_Mix[i];
/* Mixer Low Scale - Scaling output around low throttle */ /* Mixer Low Scale - Scaling output around low throttle */
if (flags_IsSet_ID(systemFlags_mixerlowscale_id)) if (flags_IsSet_ID(systemFlags_mixerlowscale_id))
{ {
for (int i = 0; i < MOTOR_COUNT; i++)
// Find the minimum and maximum motor output
if (RPY_Mix[i] < RPY_Mix_Min) RPY_Mix_Min = RPY_Mix[i];
uint16_t RPY_Mix_Min_Overshoot = (RPY_Mix_Min < mixerConfig.minThrottle) ? mixerConfig.minThrottle - RPY_Mix_Min : 0; uint16_t RPY_Mix_Min_Overshoot = (RPY_Mix_Min < mixerConfig.minThrottle) ? mixerConfig.minThrottle - RPY_Mix_Min : 0;
if (RPY_Mix_Min_Overshoot > 0 ) //|| RPY_Mix_Max_Overshoot > 0) if (RPY_Mix_Min_Overshoot > 0 ) //|| RPY_Mix_Max_Overshoot > 0)
@ -221,10 +223,11 @@ void mix()
for (int i = 0; i < MOTOR_COUNT; i++) for (int i = 0; i < MOTOR_COUNT; i++)
RPY_Mix[i] = (((float)(RPY_Mix[i] - throttle)) * (1 - mix_scale_reduction)) + throttle; RPY_Mix[i] = (((float)(RPY_Mix[i] - throttle)) * (1 - mix_scale_reduction)) + throttle;
} }
}
/* Recalculating RPY_Mix_Min */ /* Recalculating RPY_Mix_Min */
RPY_Mix_Min = throttleMid; RPY_Mix_Min = throttleMid;
}
for (int i = 0; i < MOTOR_COUNT; i++) for (int i = 0; i < MOTOR_COUNT; i++)
{ {