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Merged in skarlsso/librepilot/skarlsso/LP-107_scaleMotor_bug (pull request #46)

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skarlsso/lp 107_scalemotor_bug
This commit is contained in:
Alessio Morale 2015-09-08 15:27:51 +02:00
commit bc89c79b7d
2 changed files with 80 additions and 37 deletions
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116
flight/modules/Actuator/actuator.c
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@ -98,7 +98,7 @@ static int mixer_settings_count = 2;
// Private functions // Private functions
static void actuatorTask(void *parameters); static void actuatorTask(void *parameters);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral); 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); 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 void setFailsafe(); static void setFailsafe();
static float MixerCurveFullRangeProportional(const float input, const float *curve, uint8_t elements, bool multirotor); 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); static float MixerCurveFullRangeAbsolute(const float input, const float *curve, uint8_t elements, bool multirotor);
@ -499,7 +499,8 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
minMotor, minMotor,
armed, armed,
AlwaysStabilizeWhenArmed, AlwaysStabilizeWhenArmed,
throttleDesired); throttleDesired,
settings.MotorScalingMode);
} else { // else we scale the channel } else { // else we scale the channel
command.Channel[i] = scaleChannel(status[i], command.Channel[i] = scaleChannel(status[i],
actuatorSettings.ChannelMax[i], actuatorSettings.ChannelMax[i],
@ -687,51 +688,92 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
return valueScaled; 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;
}
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 * 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) 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)
{ {
int16_t valueScaled; int16_t valueScaled;
int16_t maxMotorScaled;
int16_t minMotorScaled;
int16_t diff;
// Scale
valueScaled = (int16_t)(value * ((float)(max - neutral))) + neutral;
maxMotorScaled = (int16_t)(maxMotor * ((float)(max - neutral))) + neutral;
minMotorScaled = (int16_t)(minMotor * ((float)(max - neutral))) + neutral;
if (max > min) { if (max > min) {
diff = max - maxMotorScaled; // difference between max allowed and actual max motor switch (scalingMode) {
if (diff < 0) { // if the difference is smaller than 0 we add it to the scaled value case FLIGHTMODESETTINGS_MOTORSCALINGMODE_NOSCALING:
valueScaled += diff; valueScaled = scaleChannel(value, max, min, neutral);
} break;
diff = neutral - minMotorScaled; // difference between min allowed and actual min motor case FLIGHTMODESETTINGS_MOTORSCALINGMODE_ELEVATEANDCOMPRESS:
if (diff > 0) { // if the difference is larger than 0 we add it to the scaled value valueScaled = scaleMotorElevateAndCompress(value, max, neutral, maxMotor, minMotor);
valueScaled += diff; break;
} case FLIGHTMODESETTINGS_MOTORSCALINGMODE_ADDANDSUBTRACT:
// todo: make this flow easier to understand valueScaled = scaleMotorAddAndSubtract(value, max, min, neutral, maxMotor, minMotor, AlwaysStabilizeWhenArmed);
if (valueScaled > max) { break;
valueScaled = max; // clamp to max value only after scaling is done. default: PIOS_Assert(false);
}
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.
} }
} else { } else {
// not sure what to do about reversed polarity right now. Why would anyone do this? // not sure what to do about reversed polarity right now. Why would anyone do this?
if (valueScaled < max) { valueScaled = scaleChannel(value, max, min, neutral);
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.
}
} }
// I've added the bool AlwaysStabilizeWhenArmed to this function. Right now we command the motors at min or a range between neutral and max. // I've added the bool AlwaysStabilizeWhenArmed to this function. Right now we command the motors at min or a range between neutral and max.

1
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -76,6 +76,7 @@
%NE:POI:AutoCruise;" /> %NE:POI:AutoCruise;" />
<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/> <field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
<field name="MotorScalingMode" units="" type="enum" elements="1" options="NoScaling,AddAndSubtract,ElevateAndCompress" defaultvalue="ElevateAndCompress" description="Function to use to scale motors when the motors want to go beyond the end points.one motor wants to go beyond its end points."/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/> <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/> <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/> <field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>