Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-20 14:55:21 +03:00
Code Issues Wiki Activity

Added DYNAMIC mixer

Browse source
This commit is contained in:
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
Download patch file Download diff file Expand all files Collapse all files

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

@ -501,6 +501,10 @@ static const char * const lookupTableOsdLogoOnArming[] = {
};
#endif
static const char* const lookupTableMixerType[] = {
"LEGACY", "LINEAR", "DYNAMIC",
};
#define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
const lookupTableEntry_t lookupTables[] = {
@ -622,6 +626,7 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_OSD
LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
#endif
LOOKUP_TABLE_ENTRY(lookupTableMixerType),
};
#undef LOOKUP_TABLE_ENTRY
@ -907,7 +912,7 @@ 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) },
{ "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_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
TABLE_OSD_LOGO_ON_ARMING,
#endif
TABLE_MIXER_TYPE,
LOOKUP_TABLE_COUNT
} lookupTableIndex_e;

18
src/main/flight/mixer.c
View file

@ -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) {
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)

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

@ -60,6 +60,13 @@ typedef enum mixerMode
MIXER_QUADX_1234 = 26
} mixerMode_e;
typedef enum mixerType
{
MIXER_LEGACY = 0,
MIXER_LINEAR = 1,
MIXER_DYNAMIC = 2,
} mixerType_e;
// Custom mixer data per motor
typedef struct motorMixer_s {
float throttle;
@ -82,7 +89,7 @@ typedef struct mixerConfig_s {
bool yaw_motors_reversed;
uint8_t crashflip_motor_percent;
uint8_t crashflip_expo;
uint8_t linear_mixer;
uint8_t mixer_type;
} mixerConfig_t;
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,
.crashflip_motor_percent = 0,
.crashflip_expo = 35,
.linear_mixer = false,
.mixer_type = MIXER_LEGACY,
);
PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);