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Merge pull request #7304 from joelucid/linear_pids

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Thrust Linearization
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Michael Keller 2019-01-09 09:08:06 +13:00 • committed by GitHub
commit a136f0b7e0
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10 changed files with 63 additions and 2 deletions
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12
src/main/flight/mixer.c
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@ -729,7 +729,12 @@ static void applyMixToMotors(float motorMix[MAX_SUPPORTED_MOTORS], motorMixer_t
// Now add in the desired throttle, but keep in a range that doesn't clip adjusted
// roll/pitch/yaw. This could move throttle down, but also up for those low throttle flips.
for (int i = 0; i < motorCount; i++) {
float motorOutput = motorOutputMin + (motorOutputRange * (motorOutputMixSign * motorMix[i] + throttle * activeMixer[i].throttle));
float motorOutput = motorOutputMixSign * motorMix[i] + throttle * activeMixer[i].throttle;
#ifdef USE_THRUST_LINEARIZATION
motorOutput = pidApplyThrustLinearization(motorOutput);
#endif
motorOutput = motorOutputMin + motorOutputRange * motorOutput;
#ifdef USE_SERVOS
if (mixerIsTricopter()) {
motorOutput += mixerTricopterMotorCorrection(i);
@ -890,6 +895,11 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
updateDynLpfCutoffs(currentTimeUs, throttle);
#endif
#ifdef USE_THRUST_LINEARIZATION
// reestablish old throttle stick feel by counter compensating thrust linearization
throttle = pidCompensateThrustLinearization(throttle);
#endif
#if defined(USE_THROTTLE_BOOST)
if (throttleBoost > 0.0f) {
const float throttleHpf = throttle - pt1FilterApply(&throttleLpf, throttle);