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Added DYNAMIC mixer

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borisbstyle 2020-11-29 23:45:31 +01:00 • committed by Michael Keller
parent 75da17a00e
commit 4a916af6a9
5 changed files with 28 additions and 11 deletions
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20
src/main/flight/mixer.c
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@ -425,19 +425,23 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
}
#endif
static void applyLinearMixerAdjustment(float *motorMix, float motorMixRange, bool airmodeEnabled) {
float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
float motorMixDelta = 0.5f * motorMixRange;
static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled) {
const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
const float motorMixDelta = 0.5f * motorMixRange;
for (int i = 0; i < mixerRuntime.motorCount; ++i) {
if (airmodeEnabled || throttle > 0.5f) {
motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + motorMixDelta, motorMix[i] - motorMixDelta);
if (mixerConfig()->mixer_type == MIXER_LINEAR) {
motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + motorMixDelta, motorMix[i] - motorMixDelta);
} else {
motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + ABS(motorMix[i]), motorMix[i] - ABS(motorMix[i]));
}
}
motorMix[i] /= motorMixNormalizationFactor;
}
}
static void applyMixerAdjustment(float *motorMix, float motorMixMin, float motorMixMax, float motorMixRange, bool airmodeEnabled) {
static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const float motorMixMax, const bool airmodeEnabled) {
#ifdef USE_AIRMODE_LPF
const float unadjustedThrottle = throttle;
throttle += pidGetAirmodeThrottleOffset();
@ -591,10 +595,10 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
#endif
motorMixRange = motorMixMax - motorMixMin;
if (mixerConfig()->linear_mixer) {
applyLinearMixerAdjustment(motorMix, motorMixRange, airmodeEnabled);
if (mixerConfig()->mixer_type > MIXER_LEGACY) {
applyMixerAdjustmentLinear(motorMix, airmodeEnabled);
} else {
applyMixerAdjustment(motorMix, motorMixMin, motorMixMax, motorMixRange, airmodeEnabled);
applyMixerAdjustment(motorMix, motorMixMin, motorMixMax, airmodeEnabled);
}
if (featureIsEnabled(FEATURE_MOTOR_STOP)