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Add Back Iterm limit for saturation scenarios

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This commit is contained in:
borisbstyle 2016-06-01 20:58:00 +02:00
parent 704c09cced
commit a3c1f6e168
4 changed files with 27 additions and 8 deletions
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14
src/main/flight/mixer.c
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@ -817,6 +817,7 @@ void mixTable(void)
throttleRange = throttleMax - throttleMin;
if (rollPitchYawMixRange > throttleRange) {
motorLimitReached = true;
mixReduction = qConstruct(throttleRange, rollPitchYawMixRange);
for (i = 0; i < motorCount; i++) {
@ -827,6 +828,7 @@ void mixTable(void)
if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);
}
@ -857,11 +859,15 @@ void mixTable(void)
// Experimental Code. Anti Desync feature for ESC's
if (escAndServoConfig->escDesyncProtection) {
const int16_t maxThrottleStep = escAndServoConfig->escDesyncProtection / (1000 / targetPidLooptime);
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
const int16_t maxThrottleStep = constrain(escAndServoConfig->escDesyncProtection / (1000 / targetPidLooptime), 5, 10000);
motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
motorPrevious[i] = motor[i];
// Only makes sense when it's within the range
if (maxThrottleStep < throttleRange) {
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
motor[i] = constrain(motor[i], motorPrevious[i] - maxThrottleStep, motorPrevious[i] + maxThrottleStep);
motorPrevious[i] = motor[i];
}
}
}