mirror of
https://github.com/betaflight/betaflight.git
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680 lines
24 KiB
C
Executable file
680 lines
24 KiB
C
Executable file
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include <math.h>
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#include "platform.h"
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#include "build/build_config.h"
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#include "common/axis.h"
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#include "common/filter.h"
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#include "common/maths.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "drivers/pwm_output.h"
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#include "drivers/pwm_esc_detect.h"
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#include "drivers/time.h"
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#include "io/motors.h"
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#include "fc/config.h"
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#include "fc/rc_controls.h"
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#include "fc/rc_modes.h"
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#include "fc/runtime_config.h"
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#include "fc/fc_core.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "rx/rx.h"
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#include "sensors/battery.h"
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PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
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#ifndef TARGET_DEFAULT_MIXER
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#define TARGET_DEFAULT_MIXER MIXER_QUADX
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#endif
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PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
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.mixerMode = TARGET_DEFAULT_MIXER,
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.yaw_motors_reversed = false,
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);
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PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 0);
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void pgResetFn_motorConfig(motorConfig_t *motorConfig)
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{
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#ifdef BRUSHED_MOTORS
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motorConfig->minthrottle = 1000;
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motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
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motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
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motorConfig->dev.useUnsyncedPwm = true;
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#else
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#ifdef BRUSHED_ESC_AUTODETECT
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if (hardwareMotorType == MOTOR_BRUSHED) {
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motorConfig->minthrottle = 1000;
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motorConfig->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
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motorConfig->dev.motorPwmProtocol = PWM_TYPE_BRUSHED;
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motorConfig->dev.useUnsyncedPwm = true;
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} else
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#endif
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{
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motorConfig->minthrottle = 1070;
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motorConfig->dev.motorPwmRate = BRUSHLESS_MOTORS_PWM_RATE;
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motorConfig->dev.motorPwmProtocol = PWM_TYPE_ONESHOT125;
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}
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#endif
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motorConfig->maxthrottle = 2000;
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motorConfig->mincommand = 1000;
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motorConfig->digitalIdleOffsetValue = 450;
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int motorIndex = 0;
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for (int i = 0; i < USABLE_TIMER_CHANNEL_COUNT && motorIndex < MAX_SUPPORTED_MOTORS; i++) {
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if (timerHardware[i].usageFlags & TIM_USE_MOTOR) {
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motorConfig->dev.ioTags[motorIndex] = timerHardware[i].tag;
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motorIndex++;
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}
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}
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}
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PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
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#define EXTERNAL_DSHOT_CONVERSION_FACTOR 2
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// (minimum output value(1001) - (minimum input value(48) / conversion factor(2))
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#define EXTERNAL_DSHOT_CONVERSION_OFFSET 977
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#define EXTERNAL_CONVERSION_MIN_VALUE 1000
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#define EXTERNAL_CONVERSION_MAX_VALUE 2000
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#define EXTERNAL_CONVERSION_3D_MID_VALUE 1500
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#define TRICOPTER_ERROR_RATE_YAW_SATURATED 75 // rate at which tricopter yaw axis becomes saturated, determined experimentally by TriFlight
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static uint8_t motorCount;
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static float motorMixRange;
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float motor[MAX_SUPPORTED_MOTORS];
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float motor_disarmed[MAX_SUPPORTED_MOTORS];
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mixerMode_e currentMixerMode;
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static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
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float pidSumLimit;
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float pidSumLimitYaw;
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static const motorMixer_t mixerQuadX[] = {
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{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
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{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
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};
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#ifndef USE_QUAD_MIXER_ONLY
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static const motorMixer_t mixerTricopter[] = {
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{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
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{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
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{ 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT
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};
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static const motorMixer_t mixerQuadP[] = {
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
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{ 1.0f, -1.0f, 0.0f, 1.0f }, // RIGHT
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{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
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{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
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};
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#if defined(USE_UNCOMMON_MIXERS)
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static const motorMixer_t mixerBicopter[] = {
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{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
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{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
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};
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#else
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#define mixerBicopter NULL
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#endif
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static const motorMixer_t mixerY4[] = {
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_TOP CW
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{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R CCW
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{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_BOTTOM CCW
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{ 1.0f, 1.0f, -1.0f, 0.0f }, // FRONT_L CW
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};
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#if (MAX_SUPPORTED_MOTORS >= 6)
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static const motorMixer_t mixerHex6X[] = {
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{ 1.0f, -0.5f, 0.866025f, 1.0f }, // REAR_R
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{ 1.0f, -0.5f, -0.866025f, 1.0f }, // FRONT_R
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{ 1.0f, 0.5f, 0.866025f, -1.0f }, // REAR_L
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{ 1.0f, 0.5f, -0.866025f, -1.0f }, // FRONT_L
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{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
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{ 1.0f, 1.0f, 0.0f, 1.0f }, // LEFT
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};
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#if defined(USE_UNCOMMON_MIXERS)
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static const motorMixer_t mixerHex6H[] = {
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{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
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{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
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{ 1.0f, 0.0f, 0.0f, 0.0f }, // RIGHT
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{ 1.0f, 0.0f, 0.0f, 0.0f }, // LEFT
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};
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static const motorMixer_t mixerHex6P[] = {
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{ 1.0f, -0.866025f, 0.5f, 1.0f }, // REAR_R
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{ 1.0f, -0.866025f, -0.5f, -1.0f }, // FRONT_R
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{ 1.0f, 0.866025f, 0.5f, 1.0f }, // REAR_L
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{ 1.0f, 0.866025f, -0.5f, -1.0f }, // FRONT_L
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{ 1.0f, 0.0f, -1.0f, 1.0f }, // FRONT
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
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};
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static const motorMixer_t mixerY6[] = {
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{ 1.0f, 0.0f, 1.333333f, 1.0f }, // REAR
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{ 1.0f, -1.0f, -0.666667f, -1.0f }, // RIGHT
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{ 1.0f, 1.0f, -0.666667f, -1.0f }, // LEFT
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{ 1.0f, 0.0f, 1.333333f, -1.0f }, // UNDER_REAR
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{ 1.0f, -1.0f, -0.666667f, 1.0f }, // UNDER_RIGHT
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{ 1.0f, 1.0f, -0.666667f, 1.0f }, // UNDER_LEFT
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};
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#else
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#define mixerHex6H NULL
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#define mixerHex6P NULL
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#define mixerY6 NULL
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#endif // USE_UNCOMMON_MIXERS
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#else
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#define mixerHex6X NULL
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#endif // MAX_SUPPORTED_MOTORS >= 6
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#if defined(USE_UNCOMMON_MIXERS) && (MAX_SUPPORTED_MOTORS >= 8)
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static const motorMixer_t mixerOctoX8[] = {
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{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
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{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
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{ 1.0f, -1.0f, 1.0f, 1.0f }, // UNDER_REAR_R
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{ 1.0f, -1.0f, -1.0f, -1.0f }, // UNDER_FRONT_R
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{ 1.0f, 1.0f, 1.0f, -1.0f }, // UNDER_REAR_L
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{ 1.0f, 1.0f, -1.0f, 1.0f }, // UNDER_FRONT_L
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};
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static const motorMixer_t mixerOctoFlatP[] = {
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{ 1.0f, 0.707107f, -0.707107f, 1.0f }, // FRONT_L
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{ 1.0f, -0.707107f, -0.707107f, 1.0f }, // FRONT_R
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{ 1.0f, -0.707107f, 0.707107f, 1.0f }, // REAR_R
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{ 1.0f, 0.707107f, 0.707107f, 1.0f }, // REAR_L
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{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
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{ 1.0f, -1.0f, 0.0f, -1.0f }, // RIGHT
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR
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{ 1.0f, 1.0f, 0.0f, -1.0f }, // LEFT
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};
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static const motorMixer_t mixerOctoFlatX[] = {
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{ 1.0f, 1.0f, -0.414178f, 1.0f }, // MIDFRONT_L
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{ 1.0f, -0.414178f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, -1.0f, 0.414178f, 1.0f }, // MIDREAR_R
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{ 1.0f, 0.414178f, 1.0f, 1.0f }, // REAR_L
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{ 1.0f, 0.414178f, -1.0f, -1.0f }, // FRONT_L
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{ 1.0f, -1.0f, -0.414178f, -1.0f }, // MIDFRONT_R
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{ 1.0f, -0.414178f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, 1.0f, 0.414178f, -1.0f }, // MIDREAR_L
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};
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#else
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#define mixerOctoX8 NULL
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#define mixerOctoFlatP NULL
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#define mixerOctoFlatX NULL
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#endif
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static const motorMixer_t mixerVtail4[] = {
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{ 1.0f, -0.58f, 0.58f, 1.0f }, // REAR_R
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{ 1.0f, -0.46f, -0.39f, -0.5f }, // FRONT_R
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{ 1.0f, 0.58f, 0.58f, -1.0f }, // REAR_L
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{ 1.0f, 0.46f, -0.39f, 0.5f }, // FRONT_L
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};
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static const motorMixer_t mixerAtail4[] = {
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{ 1.0f, 0.0f, 1.0f, 1.0f }, // REAR_R
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{ 1.0f, -1.0f, -1.0f, 0.0f }, // FRONT_R
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{ 1.0f, 0.0f, 1.0f, -1.0f }, // REAR_L
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{ 1.0f, 1.0f, -1.0f, -0.0f }, // FRONT_L
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};
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#if defined(USE_UNCOMMON_MIXERS)
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static const motorMixer_t mixerDualcopter[] = {
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{ 1.0f, 0.0f, 0.0f, -1.0f }, // LEFT
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{ 1.0f, 0.0f, 0.0f, 1.0f }, // RIGHT
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};
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#else
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#define mixerDualcopter NULL
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#endif
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static const motorMixer_t mixerSingleProp[] = {
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{ 1.0f, 0.0f, 0.0f, 0.0f },
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};
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static const motorMixer_t mixerQuadX1234[] = {
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{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
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{ 1.0f, -1.0f, -1.0f, 1.0f }, // FRONT_R
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{ 1.0f, -1.0f, 1.0f, -1.0f }, // REAR_R
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{ 1.0f, 1.0f, 1.0f, 1.0f }, // REAR_L
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};
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// Keep synced with mixerMode_e
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const mixer_t mixers[] = {
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// motors, use servo, motor mixer
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{ 0, false, NULL }, // entry 0
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{ 3, true, mixerTricopter }, // MIXER_TRI
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{ 4, false, mixerQuadP }, // MIXER_QUADP
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{ 4, false, mixerQuadX }, // MIXER_QUADX
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{ 2, true, mixerBicopter }, // MIXER_BICOPTER
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{ 0, true, NULL }, // * MIXER_GIMBAL
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{ 6, false, mixerY6 }, // MIXER_Y6
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{ 6, false, mixerHex6P }, // MIXER_HEX6
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{ 1, true, mixerSingleProp }, // * MIXER_FLYING_WING
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{ 4, false, mixerY4 }, // MIXER_Y4
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{ 6, false, mixerHex6X }, // MIXER_HEX6X
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{ 8, false, mixerOctoX8 }, // MIXER_OCTOX8
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{ 8, false, mixerOctoFlatP }, // MIXER_OCTOFLATP
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{ 8, false, mixerOctoFlatX }, // MIXER_OCTOFLATX
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{ 1, true, mixerSingleProp }, // * MIXER_AIRPLANE
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{ 0, true, NULL }, // * MIXER_HELI_120_CCPM
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{ 0, true, NULL }, // * MIXER_HELI_90_DEG
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{ 4, false, mixerVtail4 }, // MIXER_VTAIL4
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{ 6, false, mixerHex6H }, // MIXER_HEX6H
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{ 0, true, NULL }, // * MIXER_PPM_TO_SERVO
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{ 2, true, mixerDualcopter }, // MIXER_DUALCOPTER
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{ 1, true, NULL }, // MIXER_SINGLECOPTER
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{ 4, false, mixerAtail4 }, // MIXER_ATAIL4
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{ 0, false, NULL }, // MIXER_CUSTOM
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{ 2, true, NULL }, // MIXER_CUSTOM_AIRPLANE
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{ 3, true, NULL }, // MIXER_CUSTOM_TRI
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{ 4, false, mixerQuadX1234 },
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};
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#endif // !USE_QUAD_MIXER_ONLY
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static float disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
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float motorOutputHigh, motorOutputLow;
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static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
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uint8_t getMotorCount()
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{
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return motorCount;
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}
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float getMotorMixRange()
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{
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return motorMixRange;
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}
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bool mixerIsOutputSaturated(int axis, float errorRate)
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{
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if (axis == FD_YAW && (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI)) {
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return errorRate > TRICOPTER_ERROR_RATE_YAW_SATURATED;
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} else {
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return motorMixRange >= 1.0f;
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}
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return false;
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}
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// All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
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// DSHOT scaling is done to the actual dshot range
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void initEscEndpoints(void) {
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switch(motorConfig()->dev.motorPwmProtocol) {
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#ifdef USE_DSHOT
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case PWM_TYPE_PROSHOT1000:
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case PWM_TYPE_DSHOT1200:
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case PWM_TYPE_DSHOT600:
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case PWM_TYPE_DSHOT300:
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case PWM_TYPE_DSHOT150:
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disarmMotorOutput = DSHOT_DISARM_COMMAND;
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if (feature(FEATURE_3D))
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motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_DEADBAND_LOW - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
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else
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motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
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motorOutputHigh = DSHOT_MAX_THROTTLE;
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deadbandMotor3dHigh = DSHOT_3D_DEADBAND_HIGH + ((DSHOT_MAX_THROTTLE - DSHOT_3D_DEADBAND_HIGH) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
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deadbandMotor3dLow = DSHOT_3D_DEADBAND_LOW;
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break;
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#endif
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default:
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disarmMotorOutput = (feature(FEATURE_3D)) ? flight3DConfig()->neutral3d : motorConfig()->mincommand;
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motorOutputLow = motorConfig()->minthrottle;
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motorOutputHigh = motorConfig()->maxthrottle;
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deadbandMotor3dHigh = flight3DConfig()->deadband3d_high;
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deadbandMotor3dLow = flight3DConfig()->deadband3d_low;
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break;
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}
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rcCommandThrottleRange = (PWM_RANGE_MAX - rxConfig()->mincheck);
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rcCommandThrottleRange3dLow = rxConfig()->midrc - rxConfig()->mincheck - flight3DConfig()->deadband3d_throttle;
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rcCommandThrottleRange3dHigh = PWM_RANGE_MAX - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
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}
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void mixerInit(mixerMode_e mixerMode)
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{
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currentMixerMode = mixerMode;
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initEscEndpoints();
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}
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void pidInitMixer(const struct pidProfile_s *pidProfile)
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{
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pidSumLimit = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimit);
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pidSumLimitYaw = CONVERT_PARAMETER_TO_FLOAT(pidProfile->pidSumLimitYaw);
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}
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#ifndef USE_QUAD_MIXER_ONLY
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void mixerConfigureOutput(void)
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{
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motorCount = 0;
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if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
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// load custom mixer into currentMixer
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for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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// check if done
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if (customMotorMixer(i)->throttle == 0.0f)
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break;
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currentMixer[i] = *customMotorMixer(i);
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motorCount++;
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}
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} else {
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motorCount = mixers[currentMixerMode].motorCount;
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if (motorCount > MAX_SUPPORTED_MOTORS) {
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motorCount = MAX_SUPPORTED_MOTORS;
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}
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// copy motor-based mixers
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if (mixers[currentMixerMode].motor) {
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for (int i = 0; i < motorCount; i++)
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currentMixer[i] = mixers[currentMixerMode].motor[i];
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}
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}
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// in 3D mode, mixer gain has to be halved
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if (feature(FEATURE_3D)) {
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if (motorCount > 1) {
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for (int i = 0; i < motorCount; i++) {
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currentMixer[i].pitch *= 0.5f;
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currentMixer[i].roll *= 0.5f;
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currentMixer[i].yaw *= 0.5f;
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}
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}
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}
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mixerResetDisarmedMotors();
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}
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void mixerLoadMix(int index, motorMixer_t *customMixers)
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{
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// we're 1-based
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index++;
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// clear existing
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for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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customMixers[i].throttle = 0.0f;
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}
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// do we have anything here to begin with?
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if (mixers[index].motor != NULL) {
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for (int i = 0; i < mixers[index].motorCount; i++) {
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customMixers[i] = mixers[index].motor[i];
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}
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}
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}
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#else
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void mixerConfigureOutput(void)
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{
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motorCount = QUAD_MOTOR_COUNT;
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for (int i = 0; i < motorCount; i++) {
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currentMixer[i] = mixerQuadX[i];
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}
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mixerResetDisarmedMotors();
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}
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#endif
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void mixerResetDisarmedMotors(void)
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{
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// set disarmed motor values
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for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
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motor_disarmed[i] = disarmMotorOutput;
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}
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}
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void writeMotors(void)
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{
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if (pwmAreMotorsEnabled()) {
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for (int i = 0; i < motorCount; i++) {
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pwmWriteMotor(i, motor[i]);
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}
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}
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pwmCompleteMotorUpdate(motorCount);
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}
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static void writeAllMotors(int16_t mc)
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{
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// Sends commands to all motors
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for (int i = 0; i < motorCount; i++) {
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motor[i] = mc;
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}
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writeMotors();
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}
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void stopMotors(void)
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{
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writeAllMotors(disarmMotorOutput);
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delay(50); // give the timers and ESCs a chance to react.
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}
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void stopPwmAllMotors(void)
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{
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pwmShutdownPulsesForAllMotors(motorCount);
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delayMicroseconds(1500);
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}
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|
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void mixTable(pidProfile_t *pidProfile)
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{
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// Scale roll/pitch/yaw uniformly to fit within throttle range
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// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
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float throttle = 0, currentThrottleInputRange = 0;
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float motorOutputMin, motorOutputMax;
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static uint16_t throttlePrevious = 0; // Store the last throttle direction for deadband transitions
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bool mixerInversion = false;
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// Find min and max throttle based on condition.
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if (feature(FEATURE_3D)) {
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if (!ARMING_FLAG(ARMED)) throttlePrevious = rxConfig()->midrc; // When disarmed set to mid_rc. It always results in positive direction after arming.
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if ((rcCommand[THROTTLE] <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Out of band handling
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motorOutputMax = deadbandMotor3dLow;
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motorOutputMin = motorOutputLow;
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throttlePrevious = rcCommand[THROTTLE];
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throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
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currentThrottleInputRange = rcCommandThrottleRange3dLow;
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if(isMotorProtocolDshot()) mixerInversion = true;
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} else if (rcCommand[THROTTLE] >= (rxConfig()->midrc + flight3DConfig()->deadband3d_throttle)) { // Positive handling
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motorOutputMax = motorOutputHigh;
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motorOutputMin = deadbandMotor3dHigh;
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throttlePrevious = rcCommand[THROTTLE];
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throttle = rcCommand[THROTTLE] - rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
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currentThrottleInputRange = rcCommandThrottleRange3dHigh;
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} else if ((throttlePrevious <= (rxConfig()->midrc - flight3DConfig()->deadband3d_throttle))) { // Deadband handling from negative to positive
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motorOutputMax = deadbandMotor3dLow;
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motorOutputMin = motorOutputLow;
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throttle = rxConfig()->midrc - flight3DConfig()->deadband3d_throttle;
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currentThrottleInputRange = rcCommandThrottleRange3dLow;
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if(isMotorProtocolDshot()) mixerInversion = true;
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} else { // Deadband handling from positive to negative
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motorOutputMax = motorOutputHigh;
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motorOutputMin = deadbandMotor3dHigh;
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throttle = 0;
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currentThrottleInputRange = rcCommandThrottleRange3dHigh;
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}
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} else {
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throttle = rcCommand[THROTTLE] - rxConfig()->mincheck;
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currentThrottleInputRange = rcCommandThrottleRange;
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motorOutputMin = motorOutputLow;
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motorOutputMax = motorOutputHigh;
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}
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throttle = constrainf(throttle / currentThrottleInputRange, 0.0f, 1.0f);
|
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const float motorOutputRange = motorOutputMax - motorOutputMin;
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// Calculate and Limit the PIDsum
|
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const float scaledAxisPidRoll =
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constrainf((axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit);
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const float scaledAxisPidPitch =
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constrainf((axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH]) / PID_MIXER_SCALING, -pidSumLimit, pidSumLimit);
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const float scaledAxisPidYaw =
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constrainf((axisPID_P[FD_YAW] + axisPID_I[FD_YAW]) / PID_MIXER_SCALING, -pidSumLimitYaw, pidSumLimitYaw);
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// Calculate voltage compensation
|
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const float vbatCompensationFactor = (pidProfile->vbatPidCompensation) ? calculateVbatPidCompensation() : 1.0f;
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|
// Find roll/pitch/yaw desired output
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float motorMix[MAX_SUPPORTED_MOTORS];
|
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float motorMixMax = 0, motorMixMin = 0;
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const int yawDirection = GET_DIRECTION(mixerConfig()->yaw_motors_reversed);
|
|
int motorDirection = GET_DIRECTION(isMotorsReversed());
|
|
|
|
|
|
for (int i = 0; i < motorCount; i++) {
|
|
float mix =
|
|
scaledAxisPidRoll * currentMixer[i].roll * (motorDirection) +
|
|
scaledAxisPidPitch * currentMixer[i].pitch * (motorDirection) +
|
|
scaledAxisPidYaw * currentMixer[i].yaw * (-yawDirection) * (motorDirection);
|
|
|
|
if (vbatCompensationFactor > 1.0f) {
|
|
mix *= vbatCompensationFactor; // Add voltage compensation
|
|
}
|
|
|
|
if (mix > motorMixMax) {
|
|
motorMixMax = mix;
|
|
} else if (mix < motorMixMin) {
|
|
motorMixMin = mix;
|
|
}
|
|
motorMix[i] = mix;
|
|
}
|
|
|
|
motorMixRange = motorMixMax - motorMixMin;
|
|
|
|
if (motorMixRange > 1.0f) {
|
|
for (int i = 0; i < motorCount; i++) {
|
|
motorMix[i] /= motorMixRange;
|
|
}
|
|
// Get the maximum correction by setting offset to center when airmode enabled
|
|
if (isAirmodeActive()) {
|
|
throttle = 0.5f;
|
|
}
|
|
} else {
|
|
if (isAirmodeActive() || throttle > 0.5f) { // Only automatically adjust throttle when airmode enabled. Airmode logic is always active on high throttle
|
|
const float throttleLimitOffset = motorMixRange / 2.0f;
|
|
throttle = constrainf(throttle, 0.0f + throttleLimitOffset, 1.0f - throttleLimitOffset);
|
|
}
|
|
}
|
|
|
|
// 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 (uint32_t i = 0; i < motorCount; i++) {
|
|
float motorOutput = motorOutputMin + motorOutputRange * (motorMix[i] + (throttle * currentMixer[i].throttle));
|
|
|
|
// Dshot works exactly opposite in lower 3D section.
|
|
if (mixerInversion) {
|
|
motorOutput = motorOutputMin + (motorOutputMax - motorOutput);
|
|
}
|
|
|
|
if (failsafeIsActive()) {
|
|
if (isMotorProtocolDshot()) {
|
|
motorOutput = (motorOutput < motorOutputMin) ? disarmMotorOutput : motorOutput; // Prevent getting into special reserved range
|
|
}
|
|
|
|
motorOutput = constrain(motorOutput, disarmMotorOutput, motorOutputMax);
|
|
} else {
|
|
motorOutput = constrain(motorOutput, motorOutputMin, motorOutputMax);
|
|
}
|
|
|
|
// Motor stop handling
|
|
if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
|
|
if (((rcData[THROTTLE]) < rxConfig()->mincheck)) {
|
|
motorOutput = disarmMotorOutput;
|
|
}
|
|
}
|
|
motor[i] = motorOutput;
|
|
}
|
|
|
|
// Disarmed mode
|
|
if (!ARMING_FLAG(ARMED)) {
|
|
for (int i = 0; i < motorCount; i++) {
|
|
motor[i] = motor_disarmed[i];
|
|
}
|
|
}
|
|
}
|
|
|
|
float convertExternalToMotor(uint16_t externalValue)
|
|
{
|
|
uint16_t motorValue = externalValue;
|
|
#ifdef USE_DSHOT
|
|
if (isMotorProtocolDshot()) {
|
|
// Add 1 to the value, otherwise throttle tops out at 2046
|
|
motorValue = externalValue <= EXTERNAL_CONVERSION_MIN_VALUE ? DSHOT_DISARM_COMMAND : constrain((externalValue - EXTERNAL_DSHOT_CONVERSION_OFFSET) * EXTERNAL_DSHOT_CONVERSION_FACTOR + 1, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
|
|
|
|
if (feature(FEATURE_3D)) {
|
|
if (externalValue == EXTERNAL_CONVERSION_3D_MID_VALUE) {
|
|
motorValue = DSHOT_DISARM_COMMAND;
|
|
} else if (motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {
|
|
// Add 1 to the value, otherwise throttle tops out at 2046
|
|
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue) + 1;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
return (float)motorValue;
|
|
}
|
|
|
|
uint16_t convertMotorToExternal(float motorValue)
|
|
{
|
|
uint16_t externalValue = lrintf(motorValue);
|
|
#ifdef USE_DSHOT
|
|
if (isMotorProtocolDshot()) {
|
|
if (feature(FEATURE_3D) && motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {
|
|
// Subtract 1 to compensate for imbalance introduced in convertExternalToMotor()
|
|
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue) - 1;
|
|
}
|
|
|
|
// Subtract 1 to compensate for imbalance introduced in convertExternalToMotor()
|
|
externalValue = motorValue < DSHOT_MIN_THROTTLE ? EXTERNAL_CONVERSION_MIN_VALUE : constrain(((motorValue - 1)/ EXTERNAL_DSHOT_CONVERSION_FACTOR) + EXTERNAL_DSHOT_CONVERSION_OFFSET, EXTERNAL_CONVERSION_MIN_VALUE + 1, EXTERNAL_CONVERSION_MAX_VALUE);
|
|
|
|
if (feature(FEATURE_3D) && motorValue == DSHOT_DISARM_COMMAND) {
|
|
externalValue = EXTERNAL_CONVERSION_3D_MID_VALUE;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
return externalValue;
|
|
}
|