f7b8a57e42
The previous scaling function used in scaleMotor could end up with
output values below the neutral point.
This patch adds a new scaling mode that will try to scale the output
proportionally while still keep all outputs within neutral and max.
The user can select three different modes:
1) NoScaling - Only cap the output values between neutral and max.
2) AddAndSubtract - The previous output scaling method, which moves the
output values directly proportionally to the amount the max/min motor
is out of the limits.
3) ElevateAndCompress - The new mode, which elevates all motor values by
the percentage needed to bring the min motor to neutral, and then
compress all motor values by the percentage needed to bring the max
motor down to max.
The motor scaling mode can be selected by setting the
FlightModeSettings.MotorScalingMode UAVO field.
About the LibrePilot Project
Open - Collaborative - Free
The LibrePilot open source project was founded in July 2015. It focuses on research and development of software and hardware to be used in a variety of applications including vehicle control and stabilization, unmanned autonomous vehicles and robotics. One of the project’s primary goals is to provide an open and collaborative environment making it the ideal home for development of innovative ideas.
LibrePilot welcomes and encourages exchange and collaboration with other projects, like adding support for existing hardware or software in collaboration under the spirit of open source.
LibrePilot finds its roots in the OpenPilot project and the founding members are all long-standing contributors in that project.
The LibrePilot Project will be governed by a board of members using consensual methods to make important decisions and to set the overall direction of the project.
The LibrePilot source code is released under the OSI approved GPLv3 license. Integral text of the license can be found at www.gnu.org
Links for the LibrePilot Project
- Main project web site
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