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Add selectable debug options

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borisbstyle 2016-02-26 00:07:54 +01:00
parent 2e8fa5eab1
commit f30a188937
9 changed files with 52 additions and 9 deletions
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10
src/main/flight/mixer.c
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@ -811,6 +811,8 @@ void mixTable(void)
if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];
if (debugMode == DEBUG_MIXER && i < 5) debug[i] = rollPitchYawMix[i];
}
// Scale roll/pitch/yaw uniformly to fit within throttle range
@ -850,7 +852,7 @@ void mixTable(void)
motorLimitReached = true;
q_number_t mixReduction;
qConstruct(&mixReduction, throttleRange, rollPitchYawMixRange, Q12_NUMBER);
//float mixReduction = (float) throttleRange / rollPitchYawMixRange;
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] = qMultiply(mixReduction,rollPitchYawMix[i]);
}
@ -858,15 +860,21 @@ void mixTable(void)
if (IS_RC_MODE_ACTIVE(BOXAIRMODE)) {
throttleMin = throttleMax = throttleMin + (throttleRange / 2);
}
if (debugMode == DEBUG_AIRMODE) debug[0] = rollPitchYawMixRange;
} else {
motorLimitReached = false;
throttleMin = throttleMin + (rollPitchYawMixRange / 2);
throttleMax = throttleMax - (rollPitchYawMixRange / 2);
if (debugMode == DEBUG_AIRMODE) debug[0] = 0;
}
// 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 (i = 0; i < motorCount; i++) {
if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMix[i];
motor[i] = rollPitchYawMix[i] + constrain(throttle * currentMixer[i].throttle, throttleMin, throttleMax);
if (isFailsafeActive) {