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mixer saturation handling #264
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We have two ideas for fixing this:
@dpkoch, do you have any ideas or input? |
Another way to handle it is to implement a feature similar to "AirMode" in BetaFlight, it does adaptive handling of saturation. Good video about it: https://www.youtube.com/watch?v=d2nRrVENEYM |
@korken89 That's awesome! Thanks for sharing that. That video spoke mainly about the low-throttle situation. We've typically had issues at high throttle (because we are typically carrying way too much stuff), is the same logic applied at high throttle? |
Yes, in betaflight I believe it is only in the low end, but the same idea works fine on the high end. :) |
This would be a good thing to resolve, if it hasn't been done already. |
For multirotor research platforms that are likely heavy and slow, there seems to be a problem with how the current mixer handles saturation. In the plot below of the raw motor outputs, the copter was hovering pitched slightly into the wind (5 mph) and a strong yaw command was given via RC. This lead to motor 3 saturating and the other motors going to zero (crash). This was a 450 size platform with 10" props and mass of 1.41kg.
Talking with @superjax , the code that drives this behavior is here in mixer.cpp
Perhaps this type of mixer is still appropriate for really powerful and aggressive quadrotors and maybe there should be a param for setting which saturation scheme to use depending on the type of platform you're flying. In the situation that caused this failure, I wasn't trying to do anything crazy or aggressive. I was just trying to yaw to face north while hovering, and as I said there was a 5 mph headwind.
Hardware configuration
Firmware version: v1.0.0
Sensors: IMU, barometer, magnetometer
Board: Flip32
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