[paparazzi-commits] [paparazzi/paparazzi] 31d15f: [rotorcraft] try to improve motor mixing prioritie...

[GitHub]

  Branch: refs/heads/motor_mixing_prio
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 31d15f55dd103863c8d0e4e5a0b7ae139cb01ee1
      
https://github.com/paparazzi/paparazzi/commit/31d15f55dd103863c8d0e4e5a0b7ae139cb01ee1
  Author: Felix Ruess <address@hidden>
  Date:   2015-06-08 (Mon, 08 Jun 2015)

  Changed paths:
    M sw/airborne/subsystems/actuators/motor_mixing.c

  Log Message:
  -----------
  [rotorcraft] try to improve motor mixing priorities

Calculate the amount of yaw authority left after applying roll, pitch and 
throttle commands.
Then limit the yaw command to that.

Simple first shot at improving the priorities in the saturation case, see #385.

Calculating the mean_cmd should not not actually be necessary for symmetric 
airframes without any trims set.
But it shouldn't hurt....

Should (tm) result in zero saturation failures like this, but might severly 
limit yaw authority.
Maybe find some sort of compromise, e.g. use MOTOR_MIXING_MAX_SATURATION_OFFSET 
when bounding yaw or allow to give less throttle to get more yaw authority....

Not tested in real flight, meant as a basis for discussion/tests...


  Commit: f6eeaaba08c26a38441a2a94cb97645629f35b40
      
https://github.com/paparazzi/paparazzi/commit/f6eeaaba08c26a38441a2a94cb97645629f35b40
  Author: Felix Ruess <address@hidden>
  Date:   2015-06-08 (Mon, 08 Jun 2015)

  Changed paths:
    M sw/airborne/subsystems/actuators/motor_mixing.c

  Log Message:
  -----------
  [rotorcraft] motor_mixing: minor cleanup


  Commit: 3c4f11fa70a89bf53510e813a2fa72e5012cea08
      
https://github.com/paparazzi/paparazzi/commit/3c4f11fa70a89bf53510e813a2fa72e5012cea08
  Author: Felix Ruess <address@hidden>
  Date:   2015-06-08 (Mon, 08 Jun 2015)

  Changed paths:
    M sw/airborne/subsystems/actuators/motor_mixing.c

  Log Message:
  -----------
  [rotorcraft] motor_mixing: smarter yaw_authority

Compute the command with yaw for each motor to check how much it would saturate.
Use the amount of overflow over the max command to calc max yaw_authority.
This should really enable you to exhaust the full available motor command range 
compared to the simpler and more conservative previous solution.


Compare: 
https://github.com/paparazzi/paparazzi/compare/67fbaac5d3ff...3c4f11fa70a8