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Code Issues Wiki Activity

Cleanup mixTable

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This commit is contained in:
borisbstyle 2018-04-05 19:40:15 +02:00
parent 75bafb7b71
commit 194248f804
1 changed files with 17 additions and 12 deletions
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29
src/main/flight/mixer.c
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@ -710,6 +710,21 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS])
} }
} }
float applyThrottleLimit(float throttle)
{
if (currentControlRateProfile->throttle_limit_percent < 100) {
const float throttleLimitFactor = currentControlRateProfile->throttle_limit_percent / 100.0f;
switch (currentControlRateProfile->throttle_limit_type) {
case THROTTLE_LIMIT_TYPE_SCALE:
return throttle * throttleLimitFactor;
case THROTTLE_LIMIT_TYPE_CLIP:
return MIN(throttle, throttleLimitFactor);
}
}
return throttle;
}
void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation) void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
{ {
if (isFlipOverAfterCrashMode()) { if (isFlipOverAfterCrashMode()) {
@ -735,18 +750,8 @@ void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
const float vbatCompensationFactor = vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f; const float vbatCompensationFactor = vbatPidCompensation ? calculateVbatPidCompensation() : 1.0f;
// Apply the throttle_limit_percent to scale or limit the throttle based on throttle_limit_type // Apply the throttle_limit_percent to scale or limit the throttle based on throttle_limit_type
if ((currentControlRateProfile->throttle_limit_percent < 100) && (currentControlRateProfile->throttle_limit_type != THROTTLE_LIMIT_TYPE_OFF)) { if (currentControlRateProfile->throttle_limit_type != THROTTLE_LIMIT_TYPE_OFF) {
const float throttleLimitFactor = currentControlRateProfile->throttle_limit_percent / 100.0f; throttle = applyThrottleLimit(throttle);
switch (currentControlRateProfile->throttle_limit_type) {
case THROTTLE_LIMIT_TYPE_SCALE:
throttle = throttle * throttleLimitFactor;
break;
case THROTTLE_LIMIT_TYPE_CLIP:
if (throttle > throttleLimitFactor) {
throttle = throttleLimitFactor;
}
break;
}
} }
// Find roll/pitch/yaw desired output // Find roll/pitch/yaw desired output