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Merge pull request #11867 from Quick-Flash/smooth-airmode-off-to-on-transition

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Ensure that airmode off to on always has a smooth transition
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haslinghuis 2022-10-07 23:15:13 +02:00 • committed by GitHub
commit 7dd27eb9d9
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1 changed files with 44 additions and 22 deletions
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66
src/main/flight/mixer.c
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@ -21,6 +21,7 @@
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <math.h> #include <math.h>
#include <float.h>
#include "platform.h" #include "platform.h"
@ -424,44 +425,65 @@ static void updateDynLpfCutoffs(timeUs_t currentTimeUs, float throttle)
#endif #endif
static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled) { static void applyMixerAdjustmentLinear(float *motorMix, const bool airmodeEnabled) {
const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 1.0f; float airmodeTransitionPercent = 1.0f;
const float motorMixDelta = 0.5f * motorMixRange; 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) { for (int i = 0; i < mixerRuntime.motorCount; ++i) {
if (airmodeEnabled || throttle > 0.5f) { if (mixerConfig()->mixer_type == MIXER_LINEAR) {
if (mixerConfig()->mixer_type == MIXER_LINEAR) { motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + motorMixDelta, motorMix[i] - motorMixDelta);
motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + motorMixDelta, motorMix[i] - motorMixDelta); } else {
} else { motorMix[i] = scaleRangef(throttle, 0.0f, 1.0f, motorMix[i] + ABS(motorMix[i]), motorMix[i] - ABS(motorMix[i]));
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);
} }
// constrain throttle so it won't clip any outputs
throttle = constrainf(throttle, -minMotor, 1.0f - maxMotor);
} }
static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const float motorMixMax, const bool airmodeEnabled) { static void applyMixerAdjustment(float *motorMix, const float motorMixMin, const float motorMixMax, const bool airmodeEnabled) {
#ifdef USE_AIRMODE_LPF #ifdef USE_AIRMODE_LPF
const float unadjustedThrottle = throttle; const float unadjustedThrottle = throttle;
throttle += pidGetAirmodeThrottleOffset(); throttle += pidGetAirmodeThrottleOffset();
float airmodeThrottleChange = 0; float airmodeThrottleChange = 0.0f;
#endif #endif
float airmodeTransitionPercent = 1.0f;
const float motorMixNormalizationFactor = motorMixRange > 1.0f ? motorMixRange : 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++) { for (int i = 0; i < mixerRuntime.motorCount; i++) {
motorMix[i] /= motorMixNormalizationFactor; motorMix[i] *= motorMixNormalizationFactor;
} }
if (airmodeEnabled || throttle > 0.5f) { const float normalizedMotorMixMin = motorMixMin * motorMixNormalizationFactor;
float normalizedMotorMixMin = motorMixMin / motorMixNormalizationFactor; const float normalizedMotorMixMax = motorMixMax * motorMixNormalizationFactor;
float normalizedMotorMixMax = motorMixMax / motorMixNormalizationFactor; throttle = constrainf(throttle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax);
throttle = constrainf(throttle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax);
#ifdef USE_AIRMODE_LPF
airmodeThrottleChange = constrainf(unadjustedThrottle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax) - unadjustedThrottle;
#endif
}
#ifdef USE_AIRMODE_LPF #ifdef USE_AIRMODE_LPF
airmodeThrottleChange = constrainf(unadjustedThrottle, -normalizedMotorMixMin, 1.0f - normalizedMotorMixMax) - unadjustedThrottle;
pidUpdateAirmodeLpf(airmodeThrottleChange); pidUpdateAirmodeLpf(airmodeThrottleChange);
#endif #endif
} }
@ -532,7 +554,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
} }
#endif #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; mixerThrottle = throttle;
#ifdef USE_DYN_IDLE #ifdef USE_DYN_IDLE