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Improved mixer code for crash flip mode.

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This commit is contained in:
mikeller 2017-09-18 22:20:35 +12:00
parent d22fb0dde4
commit 79651ec6c8
2 changed files with 19 additions and 18 deletions
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35
src/main/flight/mixer.c
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@ -605,28 +605,29 @@ void calculateThrottleAndCurrentMotorEndpoints(void)
throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f);
}
#define CRASH_FLIP_DEADBAND 20
static void applyFlipOverAfterCrashModeToMotors(void)
{
float motorMix[MAX_SUPPORTED_MOTORS];
for (int i = 0; i < motorCount; i++) {
if (getRcDeflectionAbs(FD_ROLL) > getRcDeflectionAbs(FD_PITCH)) {
motorMix[i] = getRcDeflection(FD_ROLL) * currentMixer[i].roll * (-1);
} else {
motorMix[i] = getRcDeflection(FD_PITCH) * currentMixer[i].pitch * (-1);
if (ARMING_FLAG(ARMED)) {
for (int i = 0; i < motorCount; i++) {
if (getRcDeflectionAbs(FD_ROLL) > getRcDeflectionAbs(FD_PITCH)) {
motorMix[i] = getRcDeflection(FD_ROLL) * currentMixer[i].roll * -1;
} else {
motorMix[i] = getRcDeflection(FD_PITCH) * currentMixer[i].pitch * -1;
}
// Apply the mix to motor endpoints
float motorOutput = motorOutputMin + motorOutputRange * motorMix[i];
//Add a little bit to the motorOutputMin so props aren't spinning when sticks are centered
motorOutput = (motorOutput < motorOutputMin + CRASH_FLIP_DEADBAND ) ? disarmMotorOutput : motorOutput - CRASH_FLIP_DEADBAND;
motor[i] = motorOutput;
}
}
// Apply the mix to motor endpoints
for (uint32_t i = 0; i < motorCount; i++) {
float motorOutput = motorOutputMin + motorOutputRange * (motorMix[i]);
//Add a little bit to the motorOutputMin so props aren't spinning when sticks are centered
motorOutput = (motorOutput < motorOutputMin + 20 ) ? disarmMotorOutput : motorOutput;
motor[i] = motorOutput;
}
// Disarmed mode
if (!ARMING_FLAG(ARMED)) {
} else {
// Disarmed mode
for (int i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i];
}