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Allow PASSTHROUGH for motor mixer as well - allow differential thrust mixing for airplanes

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Konstantin Sharlaimov (DigitalEntity) 2017-01-15 23:17:02 +10:00
parent 35fd7e9b14
commit 9a46e56ba3
1 changed files with 20 additions and 6 deletions
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26
src/main/flight/mixer.c
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@ -416,11 +416,25 @@ void stopPwmAllMotors()
void mixTable(void)
{
int16_t input[3]; // RPY, range [-500:+500]
int i;
if (motorCount >= 4 && mixerConfig()->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -mixerConfig()->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig()->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
// Allow direct stick input to motors in passthrough mode on airplanes
if (STATE(FIXED_WING) && FLIGHT_MODE(PASSTHRU_MODE)) {
// Direct passthru from RX
input[ROLL] = rcCommand[ROLL];
input[PITCH] = rcCommand[PITCH];
input[YAW] = rcCommand[YAW];
}
else {
input[ROLL] = axisPID[ROLL];
input[PITCH] = axisPID[PITCH];
input[YAW] = axisPID[YAW];
if (motorCount >= 4 && mixerConfig()->yaw_jump_prevention_limit < YAW_JUMP_PREVENTION_LIMIT_HIGH) {
// prevent "yaw jump" during yaw correction
input[YAW] = constrain(input[YAW], -mixerConfig()->yaw_jump_prevention_limit - ABS(rcCommand[YAW]), mixerConfig()->yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
}
// Initial mixer concept by bdoiron74 reused and optimized for Air Mode
@ -431,9 +445,9 @@ void mixTable(void)
// motors for non-servo mixes
for (i = 0; i < motorCount; i++) {
rpyMix[i] =
axisPID[PITCH] * currentMixer[i].pitch +
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig()->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
input[PITCH] * currentMixer[i].pitch +
input[ROLL] * currentMixer[i].roll +
-mixerConfig()->yaw_motor_direction * input[YAW] * currentMixer[i].yaw;
if (rpyMix[i] > rpyMixMax) rpyMixMax = rpyMix[i];
if (rpyMix[i] < rpyMixMin) rpyMixMin = rpyMix[i];