src/main/flight/mixer_tricopter.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #ifdef USE_SERVOS
  27
  28 #include "common/utils.h"
  29
  30 #include "flight/mixer.h"
  31 #include "flight/mixer_tricopter.h"
  32
  33 #include "pg/pg.h"
  34 #include "pg/pg_ids.h"
  35
  36 PG_REGISTER_WITH_RESET_TEMPLATE(tricopterMixerConfig_t, tricopterMixerConfig, PG_TRICOPTER_CONFIG, 0);
  37
  38 PG_RESET_TEMPLATE(tricopterMixerConfig_t, tricopterMixerConfig,
  39     .dummy = 0
  40 );
  41
  42 #define TRICOPTER_ERROR_RATE_YAW_SATURATED 75 // rate at which tricopter yaw axis becomes saturated, determined experimentally by TriFlight
  43
  44 bool mixerTricopterIsServoSaturated(float errorRate)
  45 {
  46     return errorRate > TRICOPTER_ERROR_RATE_YAW_SATURATED;
  47 }
  48
  49 float mixerTricopterMotorCorrection(int motor)
  50 {
  51     UNUSED(motor);
  52     return 0.0f;
  53 }
  54
  55 void mixerTricopterInit(void)
  56 {
  57
  58 }
  59
  60 #endif // USE_SERVOS