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allow to give away some thrust for yaw control

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tumbili 2015-06-08 15:47:40 +02:00 committed by Lorenz Meier
parent 9bbb315144
commit ac215fe2cb
1 changed files with 3 additions and 0 deletions
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3
src/modules/systemlib/mixer/mixer_multirotor.cpp
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@ -312,6 +312,9 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
}
}
else if(out > 1.0f) {
// allow to reduce thrust to get some yaw response
float thrust_reduction = fminf(0.15f, out - 1.0f);
thrust -= thrust_reduction;
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost))/_rotors[i].yaw_scale;
if(status_reg != NULL) {