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Code Issues Wiki Activity

mixTable() separation for readability

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This commit is contained in:
borisbstyle 2017-07-05 13:35:21 +02:00
parent 2cac202447
commit 4ff7b9394b
3 changed files with 64 additions and 87 deletions
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2
src/main/fc/fc_core.c
View file

@ -618,7 +618,7 @@ static void subTaskMotorUpdate(void)
startTime = micros();
}
mixTable(currentPidProfile);
mixTable(currentPidProfile->vbatPidCompensation);
#ifdef USE_SERVOS
// motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos.

139
src/main/flight/mixer.c
View file

@ -497,63 +497,37 @@ void stopPwmAllMotors(void)
delayMicroseconds(1500);
}
throttle3Dstate_e get3DState(const uint16_t throttlePrevious)
float throttle = 0;
float motorOutputMin, motorOutputMax;
bool mixerInversion = true;
float motorOutputRange;
void calculateThrottleAndCurrentMotorEndpoints(void)
{
throttle3Dstate_e throttle3Dstate;
if((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) {
throttle3Dstate = INVERTED;
} else if(rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) {
throttle3Dstate = NORMAL;
} else if((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) {
throttle3Dstate = INVERTED_TO_DEADBAND;
} else {
throttle3Dstate = NORMAL_TO_DEADBAND;
}
return throttle3Dstate;
}
void mixTable(pidProfile_t *pidProfile)
{
// Scale roll/pitch/yaw uniformly to fit within throttle range
// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
float throttle = 0, currentThrottleInputRange = 0;
float motorOutputMin, motorOutputMax;
static uint16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
bool mixerInversion = false;
float currentThrottleInputRange = 0;
// Find min and max throttle based on condition.
if (feature(FEATURE_3D)) {
if(feature(FEATURE_3D)) {
if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
throttle3Dstate_e flight3DState = get3DState(throttlePrevious);
switch(flight3DState) {
case(INVERTED):
if((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) {
motorOutputMax = deadbandMotor3dLow;
motorOutputMin = motorOutputLow;
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
if(isMotorProtocolDshot()) mixerInversion = true;
break;
case(NORMAL):
} else if(rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) {
motorOutputMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
throttlePrevious = rcCommand[THROTTLE];
throttle = rcCommand[THROTTLE] - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
currentThrottleInputRange = rcCommandThrottleRange3dHigh;
break;
case(INVERTED_TO_DEADBAND):
} else if((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) {
motorOutputMax = deadbandMotor3dLow;
motorOutputMin = motorOutputLow;
throttle = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
currentThrottleInputRange = rcCommandThrottleRange3dLow;
if(isMotorProtocolDshot()) mixerInversion = true;
break;
default:
case(NORMAL_TO_DEADBAND):
} else {
motorOutputMax = motorOutputHigh;
motorOutputMin = deadbandMotor3dHigh;
throttle = 0;
@ -567,7 +541,53 @@ void mixTable(pidProfile_t *pidProfile)
}
throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f);
const float motorOutputRange = motorOutputMax - motorOutputMin;
motorOutputRange = motorOutputMax - motorOutputMin;
}
void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS]) {
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (uint32_t i = 0; i < motorCount; i++) {
float motorOutput = motorOutputMin + motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle));
// Dshot works exactly opposite in lower 3D section.
if (mixerInversion) {
motorOutput = motorOutputMin + (motorOutputMax - motorOutput);
}
if (failsafeIsActive()) {
if (isMotorProtocolDshot()) {
motorOutput = (motorOutput < motorOutputMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
}
motorOutput = constrain(motorOutput, disarmMotorOutput, motorOutputMax);
} else {
motorOutput = constrain(motorOutput, motorOutputMin, motorOutputMax);
}
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
motorOutput = disarmMotorOutput;
}
}
motor[i] = motorOutput;
}
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];
}
}
}
void mixTable(uint8_t vbatPidCompensation)
{
// Find min and max throttle based on conditions. Throttle has to be known before mixing
calculateThrottleAndCurrentMotorEndpoints();
float motorMix[MAX_SUPPORTED_MOTORS];
// Calculate and Limit the PIDsum
const float scaledAxisPidRoll =
@ -578,15 +598,13 @@ void mixTable(pidProfile_t *pidProfile)
constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING, -pidSumLimitYaw, pidSumLimitYaw);
// Calculate voltage compensation
const float vbatCompensationFactor = (pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;
const float vbatCompensationFactor = (vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;
// Find roll/pitch/yaw desired output
float motorMix[MAX_SUPPORTED_MOTORS];
float motorMixMax = 0, motorMixMin = 0;
const int yawDirection = GET_DIRECTION(mixerConfig()->yaw_motors_reversed);
int motorDirection = GET_DIRECTION(isMotorsReversed());
for (int i = 0; i < motorCount; i++) {
float mix =
scaledAxisPidRoll * currentMixer[i].roll * (motorDirection) +
@ -622,41 +640,8 @@ void mixTable(pidProfile_t *pidProfile)
}
}
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (uint32_t i = 0; i < motorCount; i++) {
float motorOutput = motorOutputMin + motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle));
// Dshot works exactly opposite in lower 3D section.
if (mixerInversion) {
motorOutput = motorOutputMin + (motorOutputMax - motorOutput);
}
if (failsafeIsActive()) {
if (isMotorProtocolDshot()) {
motorOutput = (motorOutput < motorOutputMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
}
motorOutput = constrain(motorOutput, disarmMotorOutput, motorOutputMax);
} else {
motorOutput = constrain(motorOutput, motorOutputMin, motorOutputMax);
}
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
motorOutput = disarmMotorOutput;
}
}
motor[i] = motorOutput;
}
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
for (int i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];
}
}
// Apply the mix to motor endpoints
applyMixToMotors(motorMix);
}
float convertExternalToMotor(uint16_t externalValue)

10
src/main/flight/mixer.h
View file

@ -63,14 +63,6 @@ typedef enum mixerMode
MIXER_QUADX_1234 = 26
} mixerMode_e;
typedef enum {
DEADBAND,
NORMAL,
INVERTED,
NORMAL_TO_DEADBAND,
INVERTED_TO_DEADBAND
} throttle3Dstate_e;
// Custom mixer data per motor
typedef struct motorMixer_s {
float throttle;
@ -124,7 +116,7 @@ void pidInitMixer(const struct pidProfile_s *pidProfile);
void mixerConfigureOutput(void);
void mixerResetDisarmedMotors(void);
void mixTable(struct pidProfile_s *pidProfile);
void mixTable(uint8_t vbatPidCompensation);
void syncMotors(bool enabled);
void writeMotors(void);
void stopMotors(void);