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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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7
src/main/cli/settings.c
View file

@ -501,6 +501,10 @@ static const char * const lookupTableOsdLogoOnArming[] = {
}; };
#endif #endif
static const char* const lookupTableMixerType[] = {
"LEGACY", "LINEAR", "DYNAMIC",
};
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) } #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = { const lookupTableEntry_t lookupTables[] = {
@ -622,6 +626,7 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_OSD #ifdef USE_OSD
LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming), LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
#endif #endif
LOOKUP_TABLE_ENTRY(lookupTableMixerType),
}; };
#undef LOOKUP_TABLE_ENTRY #undef LOOKUP_TABLE_ENTRY
@ -907,7 +912,7 @@ const clivalue_t valueTable[] = {
// PG_MIXER_CONFIG // 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) }, { "yaw_motors_reversed", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motors_reversed) },
{ "linear_mixer", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, linear_mixer) }, { "mixer_type", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MIXER_TYPE }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, mixer_type) },
{ "crashflip_motor_percent", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_motor_percent) }, { "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) }, { "crashflip_expo", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_expo) },

1
src/main/cli/settings.h
View file

@ -141,6 +141,7 @@ typedef enum {
#ifdef USE_OSD #ifdef USE_OSD
TABLE_OSD_LOGO_ON_ARMING, TABLE_OSD_LOGO_ON_ARMING,
#endif #endif
TABLE_MIXER_TYPE,
LOOKUP_TABLE_COUNT LOOKUP_TABLE_COUNT
} lookupTableIndex_e; } lookupTableIndex_e;

20
src/main/flight/mixer.c
View file

@ -425,19 +425,23 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
} }
#endif #endif
static void applyLinearMixerAdjustment(float *motorMix, float motorMixRange, bool airmodeEnabled) { static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled) {
float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f; const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
float motorMixDelta = 0.5f * motorMixRange; const float motorMixDelta = 0.5f * motorMixRange;
for (int i = 0; i < mixerRuntime.motorCount; ++i) { for (int i = 0; i < mixerRuntime.motorCount; ++i) {
if (airmodeEnabled || throttle > 0.5f) { 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; 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 #ifdef USE_AIRMODE_LPF
const float unadjustedThrottle = throttle; const float unadjustedThrottle = throttle;
throttle += pidGetAirmodeThrottleOffset(); throttle += pidGetAirmodeThrottleOffset();
@ -591,10 +595,10 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
#endif #endif
motorMixRange = motorMixMax - motorMixMin; motorMixRange = motorMixMax - motorMixMin;
if (mixerConfig()->linear_mixer) { if (mixerConfig()->mixer_type > MIXER_LEGACY) {
applyLinearMixerAdjustment(motorMix, motorMixRange, airmodeEnabled); applyMixerAdjustmentLinear(motorMix, airmodeEnabled);
} else { } else {
applyMixerAdjustment(motorMix, motorMixMin, motorMixMax, motorMixRange, airmodeEnabled); applyMixerAdjustment(motorMix, motorMixMin, motorMixMax, airmodeEnabled);
} }
if (featureIsEnabled(FEATURE_MOTOR_STOP) if (featureIsEnabled(FEATURE_MOTOR_STOP)

9
src/main/flight/mixer.h
View file

@ -60,6 +60,13 @@ typedef enum mixerMode
MIXER_QUADX_1234 = 26 MIXER_QUADX_1234 = 26
} mixerMode_e; } mixerMode_e;
typedef enum mixerType
{
MIXER_LEGACY = 0,
MIXER_LINEAR = 1,
MIXER_DYNAMIC = 2,
} mixerType_e;
// Custom mixer data per motor // Custom mixer data per motor
typedef struct motorMixer_s { typedef struct motorMixer_s {
float throttle; float throttle;
@ -82,7 +89,7 @@ typedef struct mixerConfig_s {
bool yaw_motors_reversed; bool yaw_motors_reversed;
uint8_t crashflip_motor_percent; uint8_t crashflip_motor_percent;
uint8_t crashflip_expo; uint8_t crashflip_expo;
uint8_t linear_mixer; uint8_t mixer_type;
} mixerConfig_t; } mixerConfig_t;
PG_DECLARE(mixerConfig_t, mixerConfig); PG_DECLARE(mixerConfig_t, mixerConfig);

2
src/main/flight/mixer_init.c
View file

@ -51,7 +51,7 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
.yaw_motors_reversed = false, .yaw_motors_reversed = false,
.crashflip_motor_percent = 0, .crashflip_motor_percent = 0,
.crashflip_expo = 35, .crashflip_expo = 35,
.linear_mixer = false, .mixer_type = MIXER_LEGACY,
); );
PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0); PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);