diff --git a/flight/modules/Actuator/actuator.c b/flight/modules/Actuator/actuator.c
index d3864a19d..c0adc82f1 100644
--- a/flight/modules/Actuator/actuator.c
+++ b/flight/modules/Actuator/actuator.c
@@ -98,7 +98,7 @@ static int mixer_settings_count = 2;
// Private functions
static void actuatorTask(void *parameters);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
-static int16_t scaleMotor(float value, int16_t max, int16_t min, int16_t neutral, float maxMotor, float minMotor, bool armed, bool AlwaysStabilizeWhenArmed, float throttleDesired, FlightModeSettingsMotorScalingModeOptions scalingMode);
+static int16_t scaleMotor(float value, int16_t max, int16_t min, int16_t neutral, float maxMotor, float minMotor, bool armed, bool AlwaysStabilizeWhenArmed, float throttleDesired);
static void setFailsafe();
static float MixerCurveFullRangeProportional(const float input, const float *curve, uint8_t elements, bool multirotor);
static float MixerCurveFullRangeAbsolute(const float input, const float *curve, uint8_t elements, bool multirotor);
@@ -499,8 +499,7 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
minMotor,
armed,
AlwaysStabilizeWhenArmed,
- throttleDesired,
- settings.MotorScalingMode);
+ throttleDesired);
} else { // else we scale the channel
command.Channel[i] = scaleChannel(status[i],
actuatorSettings.ChannelMax[i],
@@ -688,36 +687,6 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
return valueScaled;
}
-/**
- * Elevate all motor outputs so that none goes below neutral.
- * Compress all motors so that all motors are below or equal to max.
- */
-static inline int16_t scaleMotorElevateAndCompress(float value, int16_t max, int16_t neutral, float maxMotor, float minMotor)
-{
- float elevatedAndCompressedValue = value;
-
- if (minMotor < 0.0f) {
- // Elevate the value.
- elevatedAndCompressedValue += -minMotor;
- }
-
- float rangeMotor = maxMotor - minMotor;
- if (rangeMotor > 1.0f) {
- // Compress the value.
- elevatedAndCompressedValue /= rangeMotor;
- }
-
- int16_t valueScaled = elevatedAndCompressedValue * ((float)(max - neutral)) + neutral;
-
- if (valueScaled > max) {
- valueScaled = max; // clamp to max value only after scaling is done.
- }
-
- PIOS_Assert(valueScaled >= neutral);
-
- return valueScaled;
-}
-
/**
* Move and compress all motor outputs so that none goes below neutral,
* and all motors are below or equal to max.
@@ -774,62 +743,15 @@ static inline int16_t scaleMotorMoveAndCompress(float valueMotor, int16_t max, i
return valueScaled;
}
-static inline int16_t scaleMotorAddAndSubtract(float value, int16_t max, int16_t min, int16_t neutral, float maxMotor, float minMotor, bool AlwaysStabilizeWhenArmed)
-{
- // Scale
- int16_t valueScaled = (int16_t)(value * ((float)(max - neutral))) + neutral;
- int16_t maxMotorScaled = (int16_t)(maxMotor * ((float)(max - neutral))) + neutral;
- int16_t minMotorScaled = (int16_t)(minMotor * ((float)(max - neutral))) + neutral;
-
- int16_t diff = max - maxMotorScaled; // difference between max allowed and actual max motor
-
- if (diff < 0) { // if the difference is smaller than 0 we add it to the scaled value
- valueScaled += diff;
- }
- diff = neutral - minMotorScaled; // difference between min allowed and actual min motor
- if (diff > 0) { // if the difference is larger than 0 we add it to the scaled value
- valueScaled += diff;
- }
-
- if ((valueScaled < neutral) && (spinWhileArmed) && AlwaysStabilizeWhenArmed) {
- valueScaled = neutral; // clamp to neutral value only after scaling is done.
- } else if ((valueScaled < neutral) && (!spinWhileArmed) && AlwaysStabilizeWhenArmed) {
- valueScaled = neutral; // clamp to neutral value only after scaling is done. //throttle goes to min if throttledesired is equal to or less than 0 below
- } else if (valueScaled < neutral) {
- valueScaled = min; // clamp to min value only after scaling is done.
- }
-
- if (valueScaled > max) {
- valueScaled = max; // clamp to max value only after scaling is done.
- }
-
- return valueScaled;
-}
-
-
/**
* Constrain motor values to keep any one motor value from going too far out of range of another motor
*/
-static int16_t scaleMotor(float value, int16_t max, int16_t min, int16_t neutral, float maxMotor, float minMotor, bool armed, bool AlwaysStabilizeWhenArmed, float throttleDesired, FlightModeSettingsMotorScalingModeOptions scalingMode)
+static int16_t scaleMotor(float value, int16_t max, int16_t min, int16_t neutral, float maxMotor, float minMotor, bool armed, bool AlwaysStabilizeWhenArmed, float throttleDesired)
{
int16_t valueScaled;
if (max > min) {
- switch (scalingMode) {
- case FLIGHTMODESETTINGS_MOTORSCALINGMODE_NOSCALING:
- valueScaled = scaleChannel(value, max, min, neutral);
- break;
- case FLIGHTMODESETTINGS_MOTORSCALINGMODE_MOVEANDCOMPRESS:
- valueScaled = scaleMotorMoveAndCompress(value, max, neutral, maxMotor, minMotor);
- break;
- case FLIGHTMODESETTINGS_MOTORSCALINGMODE_ELEVATEANDCOMPRESS:
- valueScaled = scaleMotorElevateAndCompress(value, max, neutral, maxMotor, minMotor);
- break;
- case FLIGHTMODESETTINGS_MOTORSCALINGMODE_ADDANDSUBTRACT:
- valueScaled = scaleMotorAddAndSubtract(value, max, min, neutral, maxMotor, minMotor, AlwaysStabilizeWhenArmed);
- break;
- default: PIOS_Assert(false);
- }
+ valueScaled = scaleMotorMoveAndCompress(value, max, neutral, maxMotor, minMotor);
} else {
// not sure what to do about reversed polarity right now. Why would anyone do this?
valueScaled = scaleChannel(value, max, min, neutral);
diff --git a/shared/uavobjectdefinition/flightmodesettings.xml b/shared/uavobjectdefinition/flightmodesettings.xml
index 35e66f4bb..162f96d6c 100644
--- a/shared/uavobjectdefinition/flightmodesettings.xml
+++ b/shared/uavobjectdefinition/flightmodesettings.xml
@@ -76,7 +76,6 @@
%NE:POI:AutoCruise;" />
-