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Merge pull request #9293 from Tdogb/crashflip_power

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Crashflip motor power control
This commit is contained in:
Michael Keller 2020-01-16 12:12:08 +13:00 • committed by GitHub
commit 25d2904a89
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 19 additions and 7 deletions
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1
src/main/cli/settings.c
View file

@ -873,6 +873,7 @@ 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) },
{ "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) },
// PG_MOTOR_3D_CONFIG
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { PWM_PULSE_MIN, PWM_RANGE_MIDDLE }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_low) },

24
src/main/flight/mixer.c
View file

@ -74,6 +74,7 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.mixerMode = DEFAULT_MIXER,
.yaw_motors_reversed = false,
.crashflip_motor_percent = 0,
.crashflip_expo = 35
);
PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
@ -629,18 +630,26 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
static void applyFlipOverAfterCrashModeToMotors(void)
{
if (ARMING_FLAG(ARMED)) {
float stickDeflectionPitchAbs = getRcDeflectionAbs(FD_PITCH);
float stickDeflectionRollAbs = getRcDeflectionAbs(FD_ROLL);
float stickDeflectionYawAbs = getRcDeflectionAbs(FD_YAW);
const float flipPowerFactor = 1.0f - mixerConfig()->crashflip_expo / 100.0f;
const float stickDeflectionPitchAbs = getRcDeflectionAbs(FD_PITCH);
const float stickDeflectionRollAbs = getRcDeflectionAbs(FD_ROLL);
const float stickDeflectionYawAbs = getRcDeflectionAbs(FD_YAW);
const float stickDeflectionPitchExpo = flipPowerFactor * stickDeflectionPitchAbs + power3(stickDeflectionPitchAbs) * (1 - flipPowerFactor);
const float stickDeflectionRollExpo = flipPowerFactor * stickDeflectionRollAbs + power3(stickDeflectionRollAbs) * (1 - flipPowerFactor);
const float stickDeflectionYawExpo = flipPowerFactor * stickDeflectionYawAbs + power3(stickDeflectionYawAbs) * (1 - flipPowerFactor);
float signPitch = getRcDeflection(FD_PITCH) < 0 ? 1 : -1;
float signRoll = getRcDeflection(FD_ROLL) < 0 ? 1 : -1;
float signYaw = (getRcDeflection(FD_YAW) < 0 ? 1 : -1) * (mixerConfig()->yaw_motors_reversed ? 1 : -1);
float stickDeflectionLength = sqrtf(stickDeflectionPitchAbs*stickDeflectionPitchAbs + stickDeflectionRollAbs*stickDeflectionRollAbs);
float stickDeflectionLength = sqrtf(sq(stickDeflectionPitchAbs) + sq(stickDeflectionRollAbs));
float stickDeflectionExpoLength = sqrtf(sq(stickDeflectionPitchExpo) + sq(stickDeflectionRollExpo));
if (stickDeflectionYawAbs > MAX(stickDeflectionPitchAbs, stickDeflectionRollAbs)) {
// If yaw is the dominant, disable pitch and roll
stickDeflectionLength = stickDeflectionYawAbs;
stickDeflectionExpoLength = stickDeflectionYawExpo;
signRoll = 0;
signPitch = 0;
} else {
@ -648,7 +657,7 @@ static void applyFlipOverAfterCrashModeToMotors(void)
signYaw = 0;
}
float cosPhi = (stickDeflectionPitchAbs + stickDeflectionRollAbs) / (sqrtf(2.0f) * stickDeflectionLength);
const float cosPhi = (stickDeflectionPitchAbs + stickDeflectionRollAbs) / (sqrtf(2.0f) * stickDeflectionLength);
const float cosThreshold = sqrtf(3.0f)/2.0f; // cos(PI/6.0f)
if (cosPhi < cosThreshold) {
@ -661,8 +670,9 @@ static void applyFlipOverAfterCrashModeToMotors(void)
}
// Apply a reasonable amount of stick deadband
const float flipStickRange = 1.0f - CRASH_FLIP_STICK_MINF;
float flipPower = MAX(0.0f, stickDeflectionLength - CRASH_FLIP_STICK_MINF) / flipStickRange;
const float crashFlipStickMinExpo = flipPowerFactor * CRASH_FLIP_STICK_MINF + power3(CRASH_FLIP_STICK_MINF) * (1 - flipPowerFactor);
const float flipStickRange = 1.0f - crashFlipStickMinExpo;
const float flipPower = MAX(0.0f, stickDeflectionExpoLength - crashFlipStickMinExpo) / flipStickRange;
for (int i = 0; i < motorCount; ++i) {
float motorOutputNormalised =

1
src/main/flight/mixer.h
View file

@ -81,6 +81,7 @@ typedef struct mixerConfig_s {
uint8_t mixerMode;
bool yaw_motors_reversed;
uint8_t crashflip_motor_percent;
uint8_t crashflip_expo;
} mixerConfig_t;
PG_DECLARE(mixerConfig_t, mixerConfig);