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Code Issues Releases Activity

OP-474: When throttle < 0 and "spin while armed" mode enabled don't take into

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account stabilization or stick - stay at neutral
This commit is contained in:
James Cotton 2011-05-05 00:32:15 -05:00
parent 21a71e5294
commit 93d8449814
1 changed files with 22 additions and 18 deletions
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36
flight/Modules/Actuator/actuator.c
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@ -195,32 +195,36 @@ static void actuatorTask(void* parameters)
bool spinWhileArmed = settings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE && bool spinWhileArmed = settings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE &&
manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE; manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
bool zeroMotors = !armed || (!spinWhileArmed && !positiveThrottle);
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1); float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2); float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++) for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{ {
if(mixers[ct].type != MIXERSETTINGS_MIXER1TYPE_DISABLED) if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED)
{ continue;
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
if(zeroMotors && mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
// Motors have additional protection for when to be on
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
// If not armed or motors aren't meant to spin all the time
if( !armed ||
(!spinWhileArmed && !positiveThrottle))
{ {
command.Channel[ct] = settings.ChannelMin[ct]; //force zero throttle
filterAccumulator[ct] = 0; filterAccumulator[ct] = 0;
lastResult[ct] = 0; lastResult[ct] = 0;
} else { status[ct] = -1; //force min throttle
// For motors when armed and throttle (or flag to keep spinning) keep above neutral
if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) && (status[ct] < 0))
status[ct] = 0;
command.Channel[ct] = scaleChannel(status[ct],
settings.ChannelMax[ct],
settings.ChannelMin[ct],
settings.ChannelNeutral[ct]);
} }
// If armed meant to keep spinning,
else if ((spinWhileArmed && !positiveThrottle) ||
(status[ct] < 0) )
status[ct] = 0;
} }
command.Channel[ct] = scaleChannel(status[ct],
settings.ChannelMax[ct],
settings.ChannelMin[ct],
settings.ChannelNeutral[ct]);
} }
MixerStatusSet(&mixerStatus); MixerStatusSet(&mixerStatus);