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[paparazzi-commits] [paparazzi/paparazzi] 31d15f: [rotorcraft] try to im
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[paparazzi-commits] [paparazzi/paparazzi] 31d15f: [rotorcraft] try to improve motor mixing prioritie... |
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Date: |
Mon, 22 Jun 2015 06:45:40 -0700 |
Branch: refs/heads/master
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.
Commit: 34247a6fc928a152ffcd5da9d3e11e80da8598f2
https://github.com/paparazzi/paparazzi/commit/34247a6fc928a152ffcd5da9d3e11e80da8598f2
Author: Felix Ruess <address@hidden>
Date: 2015-06-22 (Mon, 22 Jun 2015)
Changed paths:
M sw/airborne/subsystems/actuators/motor_mixing.c
Log Message:
-----------
Merge pull request #1170 from paparazzi/motor_mixing_prio
[rotorcraft] try to improve motor mixing priorities
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.
Then limit the yaw command to that.
This should enable you to exhaust the full available motor command range while
still not saturating due to yaw.
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....
Compare:
https://github.com/paparazzi/paparazzi/compare/0420a2469afe...34247a6fc928