[paparazzi-commits] [paparazzi/paparazzi] d0e420: [rotorcraft] try to improve motor mixing prioritie...

[GitHub]

  Branch: refs/heads/motor_mixing_prio
  Home:   https://github.com/paparazzi/paparazzi
  Commit: d0e420d5cacaf0429dd9f48dfe31ca37b194b3aa
      
https://github.com/paparazzi/paparazzi/commit/d0e420d5cacaf0429dd9f48dfe31ca37b194b3aa
  Author: Felix Ruess <address@hidden>
  Date:   2015-05-03 (Sun, 03 May 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...