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crashflip expo

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This commit is contained in:
Tdogb 2019-12-17 12:57:47 -05:00
parent 73a280cc85
commit 3243aafdb9
3 changed files with 19 additions and 10 deletions
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25
src/main/flight/mixer.c
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@ -74,7 +74,7 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.mixerMode = DEFAULT_MIXER,
.yaw_motors_reversed = false,
.crashflip_motor_percent = 0,
.crashflip_power_percent = 100,
.crashflip_expo = 0,
);
PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
@ -630,18 +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 {
@ -649,7 +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) {
@ -662,8 +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 / ((float)mixerConfig()->crashflip_power_percent / 100.0f));
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 =