Better handling of motor power distribution #1147
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Moved all thrust manipulation to the stabilizer loop for better overview. Added a platform specific cap function to allow a platform to cap thrust in more meaningful way.
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@matejkarasek I have updated the power distribution a bit and thus modified the flapper power distribution file. It all looks good (in my opinion) but I have note tested on a real Flapper. The intention is that the functionality should be identical to before, would it be possible for you to take a look?
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Thanks for the heads up, will try to test it and report back soon. The new capping method, which prioritizes the attitude, could also be interesting for the Flapper :) |
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Agree, I think it can be interesting for the Flapper as well. I did not want to change anything without checking with you first :-) |
| motorPwm->motors.m2 = limitThrust(motorThrustBatCompUncapped->motors.m2, 0, UINT16_MAX); // pitch servo | ||
| motorPwm->motors.m3 = limitThrust(motorThrustBatCompUncapped->motors.m3, 0, UINT16_MAX); // yaw servo | ||
| motorPwm->motors.m1 = limitThrust(motorThrustBatCompUncapped->motors.m1, idleThrust, UINT16_MAX); // left motor | ||
| motorPwm->motors.m4 = limitThrust(motorThrustBatCompUncapped->motors.m4, idleThrust, UINT16_MAX); // left motor |
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copy&paste error in the comment, should be :
// right motor
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Fixed. Thanks!
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So I tested this on the flapper platform and all seems fine, thanks! |
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Great! |
This PR updates the power distribution.
Previously the motor power has been capped per motor if the desired thrust exceeds the maximum possible thrust. In this PR the capping has been updated to maintain the relative power of the motors and the trust of all motors are reduced equally much. The intention is to prioritize attitude over altitude to reduce the risk of flipping.
The power distribution code has also been refactored to make it easier to understand and test.