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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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2
src/main/fc/fc_msp_box.c
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@ -76,7 +76,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
{ BOXCAMERA1, "CAMERA CONTROL 1", 32}, { BOXCAMERA1, "CAMERA CONTROL 1", 32},
{ BOXCAMERA2, "CAMERA CONTROL 2", 33}, { BOXCAMERA2, "CAMERA CONTROL 2", 33},
{ BOXCAMERA3, "CAMERA CONTROL 3", 34 }, { BOXCAMERA3, "CAMERA CONTROL 3", 34 },
{ BOXFLIPOVERAFTERCRASH, "FLIP OVER AFTER CRASH (DSHOT ONLY)", 35 }, { BOXFLIPOVERAFTERCRASH, "FLIP OVER AFTER CRASH", 35 },
{ BOXPREARM, "PREARM", 36 }, { BOXPREARM, "PREARM", 36 },
}; };

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); throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f);
} }
#define CRASH_FLIP_DEADBAND 20
static void applyFlipOverAfterCrashModeToMotors(void) static void applyFlipOverAfterCrashModeToMotors(void)
{ {
float motorMix[MAX_SUPPORTED_MOTORS]; float motorMix[MAX_SUPPORTED_MOTORS];
for (int i = 0; i < motorCount; i++) { if (ARMING_FLAG(ARMED)) {
if (getRcDeflectionAbs(FD_ROLL) > getRcDeflectionAbs(FD_PITCH)) { for (int i = 0; i < motorCount; i++) {
motorMix[i] = getRcDeflection(FD_ROLL) * currentMixer[i].roll * (-1); if (getRcDeflectionAbs(FD_ROLL) > getRcDeflectionAbs(FD_PITCH)) {
} else { motorMix[i] = getRcDeflection(FD_ROLL) * currentMixer[i].roll * -1;
motorMix[i] = getRcDeflection(FD_PITCH) * currentMixer[i].pitch * (-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;
} }
} } else {
// Apply the mix to motor endpoints // Disarmed mode
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)) {
for (int i = 0; i < motorCount; i++) { for (int i = 0; i < motorCount; i++) {
motor[i] = motor_disarmed[i]; motor[i] = motor_disarmed[i];
} }