diff options
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index b354eb518..b753da5ce 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -244,14 +244,23 @@ MultirotorMixer::mix(float *outputs, unsigned space) if (min_out < 0.0f) { float scale_in = thrust / (thrust - min_out); + max_out = 0.0f; + /* mix again with adjusted controls */ for (unsigned i = 0; i < _rotor_count; i++) { - outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust; + float out = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust; + + /* update max output value */ + if (out > max_out) { + max_out = out; + } + + outputs[i] = out; } _limits.roll_pitch = true; } else { - /* roll/pitch mixed without limiting, add yaw control */ + /* roll/pitch mixed without lower side limiting, add yaw control */ for (unsigned i = 0; i < _rotor_count; i++) { outputs[i] += yaw * _rotors[i].yaw_scale; } |