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Code Issues Wiki Activity

Configurable saturation limit for Airmode

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This commit is contained in:
borisbstyle 2016-02-07 23:29:00 +01:00
parent 8b85c57723
commit 9b826f4373
4 changed files with 9 additions and 8 deletions
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9
src/main/flight/mixer.c
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@ -19,6 +19,7 @@
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#include "debug.h"
@ -814,12 +815,12 @@ void mixTable(void)
if (rollPitchYawMixRange > throttleRange) {
motorLimitReached = true;
float mixReduction = (float) throttleRange / rollPitchYawMixRange;
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = (rollPitchYawMix[i] * throttleRange) / rollPitchYawMixRange;
// Get the max correction from center when agressivity enabled. (Some setups don't like this option)
if (mixerConfig->agressive_airmode) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
rollPitchYawMix[i] = lrintf((float) rollPitchYawMix[i] * mixReduction);
}
// Get the maximum correction by setting offset to center. Only active below 50% of saturation levels to reduce spazzing out in crashes
if (mixReduction > (mixerConfig->airmode_saturation_limit / 100.0f)) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);