From 7ef3ae8828b3fb43ad53ec0c5eeda31b02925e15 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Mon, 12 Mar 2018 11:49:53 +0100
Subject: [PATCH] Multicopter mixer - Recompute safe roll_pitch_scale if not in
air-mode If not in air-mode the mixer is not able to apply positive boosting
and roll_pitch_scale is recomputed to apply symmetric - reduced - thrust.
This has the consequence to cut completely the outputs when the thrust is set
to zero.
---
src/lib/mixer/mixer_multirotor.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/lib/mixer/mixer_multirotor.cpp b/src/lib/mixer/mixer_multirotor.cpp
index 42d97e8e65..398f30a73b 100644
--- a/src/lib/mixer/mixer_multirotor.cpp
+++ b/src/lib/mixer/mixer_multirotor.cpp
@@ -217,7 +217,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
} else if (max_out > 1.0f) {
boost = -(max_out - 1.0f);
-
}
} else {
@@ -226,7 +225,13 @@ MultirotorMixer::mix(float *outputs, unsigned space)
}
if (!_airmode) {
- boost = math::min(boost, 0.0f); // Disable positive boosting if not in air-mode
+ // disable positive boosting if not in air-mode
+ // boosting is positive when min_out < 0.0
+ // roll_pitch_scale is reduced accordingly
+ if (boost > 0.0f) {
+ roll_pitch_scale = thrust / (thrust - min_out);
+ boost = 0.0f;
+ }
}
// capture saturation
--
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