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Improved ITerm windup handling for tricopter

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This commit is contained in:
Martin Budden 2017-03-11 07:44:24 +00:00
parent d0475a6987
commit 37c9d3c47e
3 changed files with 20 additions and 3 deletions
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13
src/main/flight/mixer.c
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@ -116,6 +116,9 @@ PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR
#define EXTERNAL_CONVERSION_MAX_VALUE 2000
#define EXTERNAL_CONVERSION_3D_MID_VALUE 1500
#define TRICOPTER_ERROR_RATE_YAW_SATURATED 75 // rate at which tricopter yaw axis becomes saturated, determined experimentally by TriFlight
static uint8_t motorCount;
static float motorMixRange;
@ -328,6 +331,16 @@ float getMotorMixRange()
return motorMixRange;
}
bool mixerIsOutputSaturated(int axis, float errorRate)
{
if (axis == FD_YAW && (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI)) {
return errorRate > TRICOPTER_ERROR_RATE_YAW_SATURATED;
} else {
return motorMixRange >= 1.0f;
}
return false;
}
bool isMotorProtocolDshot(void) {
#ifdef USE_DSHOT
switch(motorConfig()->dev.motorPwmProtocol) {