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Code Issues Releases Activity

LP-107 Use scaleChannel for unscaled motor outputs

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This commit is contained in:
Stefan Karlsson 2015-09-01 21:17:52 +02:00
parent f7b8a57e42
commit 71f6e82399
1 changed files with 2 additions and 19 deletions
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21
flight/modules/Actuator/actuator.c
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@ -689,22 +689,6 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
return valueScaled;
}
/**
* No motor scaling, only limit the values to min and max.
*/
static inline int16_t scaleMotorNoScaling(float value, int16_t max, int16_t min, int16_t neutral)
{
int16_t valueScaled = (int16_t)(value * ((float)(max - neutral))) + neutral;
if (valueScaled > max) {
valueScaled = max; // clamp to max value only after scaling is done.
}
if (valueScaled < min) {
valueScaled = min; // clamp to min value only after scaling is done.
}
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.
@ -778,7 +762,7 @@ static int16_t scaleMotor(float value, int16_t max, int16_t min, int16_t neutral
if (max > min) {
switch (scalingMode) {
case FLIGHTMODESETTINGS_MOTORSCALINGMODE_NOSCALING:
valueScaled = scaleMotorNoScaling(value, max, min, neutral);
valueScaled = scaleChannel(value, max, min, neutral);
break;
case FLIGHTMODESETTINGS_MOTORSCALINGMODE_ELEVATEANDCOMPRESS:
valueScaled = scaleMotorElevateAndCompress(value, max, neutral, maxMotor, minMotor);
@ -790,8 +774,7 @@ static int16_t scaleMotor(float value, int16_t max, int16_t min, int16_t neutral
}
} else {
// not sure what to do about reversed polarity right now. Why would anyone do this?
// Note the reversal of the max and min arguments below.
valueScaled = scaleMotorNoScaling(value, min, max, neutral);
valueScaled = scaleChannel(value, max, min, neutral);
}
// I've added the bool AlwaysStabilizeWhenArmed to this function. Right now we command the motors at min or a range between neutral and max.