Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Ensure that airmode off to on always has a smooth transition

Browse source 
Ensure that non legacy mixer types also function as expected.

Also lay the groundwork for an airmode strength setting.

Add const before some values

all mixer types working as expected
This commit is contained in:
Kevin Plaizier 2022-10-06 10:36:23 -06:00
parent 813a02cb86
commit 7ba88137e7
1 changed files with 48 additions and 22 deletions
Download patch file Download diff file Expand all files Collapse all files

70
src/main/flight/mixer.c
View file

@ -21,6 +21,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include <float.h>
#include "platform.h"
@ -424,18 +425,40 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
#endif
static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled) {
const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
const float motorMixDelta = 0.5f * motorMixRange;
float airmodeTransitionPercent = 1.0f;
float motorDeltaScale = 0.5f;
if (!airmodeEnabled && throttle < 0.5f) {
// this scales the motor mix authority to be 0.5 at 0 throttle, and 1.0 at 0.5 throttle as airmode off intended for things to work.
// also lays the groundwork for how an airmode percent would work.
airmodeTransitionPercent = scaleRangef(throttle, 0.0f, 0.5f, 0.5f, 1.0f); // 0.5 throttle is full transition, and 0.0 throttle is 50% airmodeTransitionPercent
motorDeltaScale *= airmodeTransitionPercent; // this should be half of the motor authority allowed
}
const float motorMixNormalizationFactor = motorMixRange > 1.0 ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent;
const float motorMixDelta = motorDeltaScale * motorMixRange;
float minMotor = FLT_MAX;
float maxMotor = FLT_MIN;
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]));
}
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;
maxMotor = MAX(motorMix[i], maxMotor);
minMotor = MIN(motorMix[i], minMotor);
}
// correct throttle so it won't clip any outputs
if (minMotor + throttle < 0.0f) {
throttle = -minMotor;
} else if (maxMotor + throttle > 1.0f) {
throttle = 1.0f - maxMotor;
}
}
@ -443,25 +466,28 @@ static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const
#ifdef USE_AIRMODE_LPF
const float unadjustedThrottle = throttle;
throttle += pidGetAirmodeThrottleOffset();
float airmodeThrottleChange = 0;
float airmodeThrottleChange = 0.0f;
#endif
const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f;
float airmodeTransitionPercent = 1.0f;
if (!airmodeEnabled && throttle < 0.5f) {
// this scales the motor mix authority to be 0.5 at 0 throttle, and 1.0 at 0.5 throttle as airmode off intended for things to work.
// also lays the groundwork for how an airmode percent would work.
airmodeTransitionPercent = scaleRangef(throttle, 0.0f, 0.5f, 0.5f, 1.0f); // 0.5 throttle is full transition, and 0.0 throttle is 50% airmodeTransitionPercent
}
const float motorMixNormalizationFactor = motorMixRange > 1.0 ? airmodeTransitionPercent / motorMixRange : airmodeTransitionPercent;
for (int i = 0; i < mixerRuntime.motorCount; i++) {
motorMix[i] /= motorMixNormalizationFactor;
motorMix[i] *= motorMixNormalizationFactor;
}
if (airmodeEnabled || throttle > 0.5f) {
float normalizedMotorMixMin = motorMixMin / motorMixNormalizationFactor;
float normalizedMotorMixMax = motorMixMax / motorMixNormalizationFactor;
throttle = constrainf(throttle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax);
#ifdef USE_AIRMODE_LPF
airmodeThrottleChange = constrainf(unadjustedThrottle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax) - unadjustedThrottle;
#endif
}
const float normalizedMotorMixMin = motorMixMin * motorMixNormalizationFactor;
const float normalizedMotorMixMax = motorMixMax * motorMixNormalizationFactor;
throttle = constrainf(throttle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax);
#ifdef USE_AIRMODE_LPF
airmodeThrottleChange = constrainf(unadjustedThrottle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax) - unadjustedThrottle;
pidUpdateAirmodeLpf(airmodeThrottleChange);
#endif
}
@ -532,7 +558,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
}
#endif
// send throttle value to blackbox, including scaling and throttle boost, but not TL compensation, dyn idle or airmode
// send throttle value to blackbox, including scaling and throttle boost, but not TL compensation, dyn idle or airmode
mixerThrottle = throttle;
#ifdef USE_DYN_IDLE