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Airmode mixer rework // Fix stopping motors caused by 3D feature

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borisbstyle 2016-01-19 21:50:42 +01:00
parent 782482bf76
commit b5dcbbed25
1 changed files with 17 additions and 7 deletions
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24
src/main/flight/mixer.c
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@ -53,8 +53,6 @@
#include "config/runtime_config.h"
#include "config/config.h"
//#define MIXER_DEBUG
uint8_t motorCount;
int16_t motor[MAX_SUPPORTED_MOTORS];
@ -794,6 +792,7 @@ void mixTable(void)
int16_t rollPitchYawMixRange = rollPitchYawMixMax - rollPitchYawMixMin;
int16_t throttleRange, throttle;
int16_t throttleMin, throttleMax;
static bool flightDirection3dReversed;
throttle = rcData[THROTTLE];
@ -803,9 +802,11 @@ void mixTable(void)
if (rcData[THROTTLE] <= (flight3DConfig->neutral3d - flight3DConfig->deadband3d_throttle)) {
throttleMax = flight3DConfig->deadband3d_low;
throttleMin = escAndServoConfig->minthrottle;
flightDirection3dReversed = true;
} else if (rcData[THROTTLE] >= (flight3DConfig->neutral3d + flight3DConfig->deadband3d_throttle)) {
throttleMax = escAndServoConfig->maxthrottle;
throttleMin = flight3DConfig->deadband3d_high;
flightDirection3dReversed = false;
} else {
if (!throttleMin) { /* when starting in neutral */
throttleMax = escAndServoConfig->maxthrottle;
@ -832,6 +833,7 @@ void mixTable(void)
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = (rollPitchYawMix[i] * throttleRange) / rollPitchYawMixRange;
}
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
@ -848,12 +850,20 @@ void mixTable(void)
// TODO - Should probably not be needed for constraining failsafe, but keep it till it is investigated.
if (isFailsafeActive) {
motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
} else if (feature(FEATURE_3D)) {
if (flightDirection3dReversed) {
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, flight3DConfig->deadband3d_low);
} else {
motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
}
} else {
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D)) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
motor[i] = escAndServoConfig->mincommand;
}
motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
}
// Motor stop handling
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D)) {
if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
motor[i] = escAndServoConfig->mincommand;
}
}
}