src/main/flight/mixer_init.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 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #include "build/build_config.h"
  28 #include "build/debug.h"
  29
  30 #include "config/config.h"
  31 #include "config/feature.h"
  32
  33 #include "drivers/dshot.h"
  34
  35 #include "fc/controlrate_profile.h"
  36 #include "fc/runtime_config.h"
  37
  38 #include "flight/mixer_tricopter.h"
  39 #include "flight/pid.h"
  40
  41 #include "rx/rx.h"
  42
  43 #include "sensors/battery.h"
  44
  45 #include "mixer_init.h"
  46
  47 PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
  48
  49 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
  50     .mixerMode = DEFAULT_MIXER,
  51     .yaw_motors_reversed = false,
  52     .crashflip_motor_percent = 0,
  53     .crashflip_expo = 35,
  54     .mixer_type = MIXER_LEGACY,
  55 );
  56
  57 PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
  58
  59 mixerMode_e currentMixerMode;
  60
  61 static const motorMixer_t mixerQuadX[] = {
  62     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
  63     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
  64     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
  65     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
  66 };
  67 #ifndef USE_QUAD_MIXER_ONLY
  68 static const motorMixer_t mixerTricopter[] = {
  69     { 1.0f,  0.0f,  1.333333f,  0.0f },     // REAR
  70     { 1.0f, -1.0f, -0.666667f,  0.0f },     // RIGHT
  71     { 1.0f,  1.0f, -0.666667f,  0.0f },     // LEFT
  72 };
  73
  74 static const motorMixer_t mixerQuadP[] = {
  75     { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR
  76     { 1.0f, -1.0f,  0.0f,  1.0f },          // RIGHT
  77     { 1.0f,  1.0f,  0.0f,  1.0f },          // LEFT
  78     { 1.0f,  0.0f, -1.0f, -1.0f },          // FRONT
  79 };
  80
  81 #if defined(USE_UNCOMMON_MIXERS)
  82 static const motorMixer_t mixerBicopter[] = {
  83     { 1.0f,  1.0f,  0.0f,  0.0f },          // LEFT
  84     { 1.0f, -1.0f,  0.0f,  0.0f },          // RIGHT
  85 };
  86 #else
  87 #define mixerBicopter NULL
  88 #endif
  89
  90 static const motorMixer_t mixerY4[] = {
  91     { 1.0f,  0.0f,  1.0f, -1.0f },          // REAR_TOP CW
  92     { 1.0f, -1.0f, -1.0f,  0.0f },          // FRONT_R CCW
  93     { 1.0f,  0.0f,  1.0f,  1.0f },          // REAR_BOTTOM CCW
  94     { 1.0f,  1.0f, -1.0f,  0.0f },          // FRONT_L CW
  95 };
  96
  97
  98 #if (MAX_SUPPORTED_MOTORS >= 6)
  99 static const motorMixer_t mixerHex6X[] = {
 100     { 1.0f, -0.5f,  0.866025f,  1.0f },     // REAR_R
 101     { 1.0f, -0.5f, -0.866025f,  1.0f },     // FRONT_R
 102     { 1.0f,  0.5f,  0.866025f, -1.0f },     // REAR_L
 103     { 1.0f,  0.5f, -0.866025f, -1.0f },     // FRONT_L
 104     { 1.0f, -1.0f,  0.0f,      -1.0f },     // RIGHT
 105     { 1.0f,  1.0f,  0.0f,       1.0f },     // LEFT
 106 };
 107
 108 #if defined(USE_UNCOMMON_MIXERS)
 109 static const motorMixer_t mixerHex6H[] = {
 110     { 1.0f, -1.0f,  1.0f, -1.0f },     // REAR_R
 111     { 1.0f, -1.0f, -1.0f,  1.0f },     // FRONT_R
 112     { 1.0f,  1.0f,  1.0f,  1.0f },     // REAR_L
 113     { 1.0f,  1.0f, -1.0f, -1.0f },     // FRONT_L
 114     { 1.0f,  0.0f,  0.0f,  0.0f },     // RIGHT
 115     { 1.0f,  0.0f,  0.0f,  0.0f },     // LEFT
 116 };
 117
 118 static const motorMixer_t mixerHex6P[] = {
 119     { 1.0f, -0.866025f,  0.5f,  1.0f },     // REAR_R
 120     { 1.0f, -0.866025f, -0.5f, -1.0f },     // FRONT_R
 121     { 1.0f,  0.866025f,  0.5f,  1.0f },     // REAR_L
 122     { 1.0f,  0.866025f, -0.5f, -1.0f },     // FRONT_L
 123     { 1.0f,  0.0f,      -1.0f,  1.0f },     // FRONT
 124     { 1.0f,  0.0f,       1.0f, -1.0f },     // REAR
 125 };
 126 static const motorMixer_t mixerY6[] = {
 127     { 1.0f,  0.0f,  1.333333f,  1.0f },     // REAR
 128     { 1.0f, -1.0f, -0.666667f, -1.0f },     // RIGHT
 129     { 1.0f,  1.0f, -0.666667f, -1.0f },     // LEFT
 130     { 1.0f,  0.0f,  1.333333f, -1.0f },     // UNDER_REAR
 131     { 1.0f, -1.0f, -0.666667f,  1.0f },     // UNDER_RIGHT
 132     { 1.0f,  1.0f, -0.666667f,  1.0f },     // UNDER_LEFT
 133 };
 134 #else
 135 #define mixerHex6H NULL
 136 #define mixerHex6P NULL
 137 #define mixerY6 NULL
 138 #endif // USE_UNCOMMON_MIXERS
 139 #else
 140 #define mixerHex6X NULL
 141 #endif // MAX_SUPPORTED_MOTORS >= 6
 142
 143 #if defined(USE_UNCOMMON_MIXERS) && (MAX_SUPPORTED_MOTORS >= 8)
 144 static const motorMixer_t mixerOctoX8[] = {
 145     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
 146     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
 147     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
 148     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
 149     { 1.0f, -1.0f,  1.0f,  1.0f },          // UNDER_REAR_R
 150     { 1.0f, -1.0f, -1.0f, -1.0f },          // UNDER_FRONT_R
 151     { 1.0f,  1.0f,  1.0f, -1.0f },          // UNDER_REAR_L
 152     { 1.0f,  1.0f, -1.0f,  1.0f },          // UNDER_FRONT_L
 153 };
 154
 155 static const motorMixer_t mixerOctoFlatP[] = {
 156     { 1.0f,  0.707107f, -0.707107f,  1.0f },    // FRONT_L
 157     { 1.0f, -0.707107f, -0.707107f,  1.0f },    // FRONT_R
 158     { 1.0f, -0.707107f,  0.707107f,  1.0f },    // REAR_R
 159     { 1.0f,  0.707107f,  0.707107f,  1.0f },    // REAR_L
 160     { 1.0f,  0.0f, -1.0f, -1.0f },              // FRONT
 161     { 1.0f, -1.0f,  0.0f, -1.0f },              // RIGHT
 162     { 1.0f,  0.0f,  1.0f, -1.0f },              // REAR
 163     { 1.0f,  1.0f,  0.0f, -1.0f },              // LEFT
 164 };
 165
 166 static const motorMixer_t mixerOctoFlatX[] = {
 167     { 1.0f,  1.0f, -0.414178f,  1.0f },      // MIDFRONT_L
 168     { 1.0f, -0.414178f, -1.0f,  1.0f },      // FRONT_R
 169     { 1.0f, -1.0f,  0.414178f,  1.0f },      // MIDREAR_R
 170     { 1.0f,  0.414178f,  1.0f,  1.0f },      // REAR_L
 171     { 1.0f,  0.414178f, -1.0f, -1.0f },      // FRONT_L
 172     { 1.0f, -1.0f, -0.414178f, -1.0f },      // MIDFRONT_R
 173     { 1.0f, -0.414178f,  1.0f, -1.0f },      // REAR_R
 174     { 1.0f,  1.0f,  0.414178f, -1.0f },      // MIDREAR_L
 175 };
 176 #else
 177 #define mixerOctoX8 NULL
 178 #define mixerOctoFlatP NULL
 179 #define mixerOctoFlatX NULL
 180 #endif
 181
 182 static const motorMixer_t mixerVtail4[] = {
 183     { 1.0f,  -0.58f,  0.58f, 1.0f },        // REAR_R
 184     { 1.0f,  -0.46f, -0.39f, -0.5f },       // FRONT_R
 185     { 1.0f,  0.58f,  0.58f, -1.0f },        // REAR_L
 186     { 1.0f,  0.46f, -0.39f, 0.5f },         // FRONT_L
 187 };
 188
 189 static const motorMixer_t mixerAtail4[] = {
 190     { 1.0f, -0.58f,  0.58f, -1.0f },          // REAR_R
 191     { 1.0f, -0.46f, -0.39f,  0.5f },          // FRONT_R
 192     { 1.0f,  0.58f,  0.58f,  1.0f },          // REAR_L
 193     { 1.0f,  0.46f, -0.39f, -0.5f },          // FRONT_L
 194 };
 195
 196 #if defined(USE_UNCOMMON_MIXERS)
 197 static const motorMixer_t mixerDualcopter[] = {
 198     { 1.0f,  0.0f,  0.0f, -1.0f },          // LEFT
 199     { 1.0f,  0.0f,  0.0f,  1.0f },          // RIGHT
 200 };
 201 #else
 202 #define mixerDualcopter NULL
 203 #endif
 204
 205 static const motorMixer_t mixerSingleProp[] = {
 206     { 1.0f,  0.0f,  0.0f, 0.0f },
 207 };
 208
 209 static const motorMixer_t mixerQuadX1234[] = {
 210     { 1.0f,  1.0f, -1.0f, -1.0f },          // FRONT_L
 211     { 1.0f, -1.0f, -1.0f,  1.0f },          // FRONT_R
 212     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
 213     { 1.0f,  1.0f,  1.0f,  1.0f },          // REAR_L
 214 };
 215
 216 // Keep synced with mixerMode_e
 217 // Some of these entries are bogus when servos (USE_SERVOS) are not configured,
 218 // but left untouched to keep ordinals synced with mixerMode_e (and configurator).
 219 const mixer_t mixers[] = {
 220     // motors, use servo, motor mixer
 221     { 0, false, NULL },                // entry 0
 222     { 3, true,  mixerTricopter },      // MIXER_TRI
 223     { 4, false, mixerQuadP },          // MIXER_QUADP
 224     { 4, false, mixerQuadX },          // MIXER_QUADX
 225     { 2, true,  mixerBicopter },       // MIXER_BICOPTER
 226     { 0, true,  NULL },                // * MIXER_GIMBAL
 227     { 6, false, mixerY6 },             // MIXER_Y6
 228     { 6, false, mixerHex6P },          // MIXER_HEX6
 229     { 1, true,  mixerSingleProp },     // * MIXER_FLYING_WING
 230     { 4, false, mixerY4 },             // MIXER_Y4
 231     { 6, false, mixerHex6X },          // MIXER_HEX6X
 232     { 8, false, mixerOctoX8 },         // MIXER_OCTOX8
 233     { 8, false, mixerOctoFlatP },      // MIXER_OCTOFLATP
 234     { 8, false, mixerOctoFlatX },      // MIXER_OCTOFLATX
 235     { 1, true,  mixerSingleProp },     // * MIXER_AIRPLANE
 236     { 1, true,  mixerSingleProp },     // * MIXER_HELI_120_CCPM
 237     { 0, true,  NULL },                // * MIXER_HELI_90_DEG
 238     { 4, false, mixerVtail4 },         // MIXER_VTAIL4
 239     { 6, false, mixerHex6H },          // MIXER_HEX6H
 240     { 0, true,  NULL },                // * MIXER_PPM_TO_SERVO
 241     { 2, true,  mixerDualcopter },     // MIXER_DUALCOPTER
 242     { 1, true,  NULL },                // MIXER_SINGLECOPTER
 243     { 4, false, mixerAtail4 },         // MIXER_ATAIL4
 244     { 0, false, NULL },                // MIXER_CUSTOM
 245     { 2, true,  NULL },                // MIXER_CUSTOM_AIRPLANE
 246     { 3, true,  NULL },                // MIXER_CUSTOM_TRI
 247     { 4, false, mixerQuadX1234 },
 248 };
 249 #endif // !USE_QUAD_MIXER_ONLY
 250
 251 FAST_DATA_ZERO_INIT mixerRuntime_t mixerRuntime;
 252
 253 uint8_t getMotorCount(void)
 254 {
 255     return mixerRuntime.motorCount;
 256 }
 257
 258 bool areMotorsRunning(void)
 259 {
 260     bool motorsRunning = false;
 261     if (ARMING_FLAG(ARMED)) {
 262         motorsRunning = true;
 263     } else {
 264         for (int i = 0; i < mixerRuntime.motorCount; i++) {
 265             if (motor_disarmed[i] != mixerRuntime.disarmMotorOutput) {
 266                 motorsRunning = true;
 267
 268                 break;
 269             }
 270         }
 271     }
 272
 273     return motorsRunning;
 274 }
 275
 276 #ifdef USE_SERVOS
 277 bool mixerIsTricopter(void)
 278 {
 279     return (currentMixerMode == MIXER_TRI || currentMixerMode == MIXER_CUSTOM_TRI);
 280 }
 281 #endif
 282
 283 // All PWM motor scaling is done to standard PWM range of 1000-2000 for easier tick conversion with legacy code / configurator
 284 // DSHOT scaling is done to the actual dshot range
 285 void initEscEndpoints(void)
 286 {
 287     float motorOutputLimit = 1.0f;
 288     if (currentPidProfile->motor_output_limit < 100) {
 289         motorOutputLimit = currentPidProfile->motor_output_limit / 100.0f;
 290     }
 291     motorInitEndpoints(motorConfig(), motorOutputLimit, &mixerRuntime.motorOutputLow, &mixerRuntime.motorOutputHigh, &mixerRuntime.disarmMotorOutput, &mixerRuntime.deadbandMotor3dHigh, &mixerRuntime.deadbandMotor3dLow);
 292 }
 293
 294 // Initialize pidProfile related mixer settings
 295
 296 void mixerInitProfile(void)
 297 {
 298 #ifdef USE_DYN_IDLE
 299     if (motorConfigMutable()->dev.useDshotTelemetry) {
 300         mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
 301     } else {
 302         mixerRuntime.dynIdleMinRps = 0.0f;
 303     }
 304     mixerRuntime.dynIdlePGain = currentPidProfile->dyn_idle_p_gain * 0.00015f;
 305     mixerRuntime.dynIdleIGain = currentPidProfile->dyn_idle_i_gain * 0.01f * pidGetDT();
 306     mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency();
 307     mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
 308     mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors
 309     if (!mixerRuntime.feature3dEnabled && mixerRuntime.dynIdleMinRps) {
 310         mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE; // Override value set by initEscEndpoints to allow zero motor drive
 311     }
 312 #endif
 313
 314 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 315     mixerRuntime.vbatSagCompensationFactor = 0.0f;
 316     if (currentPidProfile->vbat_sag_compensation > 0) {
 317         //TODO: Make this voltage user configurable
 318         mixerRuntime.vbatFull = CELL_VOLTAGE_FULL_CV;
 319         mixerRuntime.vbatRangeToCompensate = mixerRuntime.vbatFull - batteryConfig()->vbatwarningcellvoltage;
 320         if (mixerRuntime.vbatRangeToCompensate > 0) {
 321             mixerRuntime.vbatSagCompensationFactor = ((float)currentPidProfile->vbat_sag_compensation) / 100.0f;
 322         }
 323     }
 324 #endif
 325 }
 326
 327 #ifdef USE_LAUNCH_CONTROL
 328 // Create a custom mixer for launch control based on the current settings
 329 // but disable the front motors. We don't care about roll or yaw because they
 330 // are limited in the PID controller.
 331 void loadLaunchControlMixer(void)
 332 {
 333     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 334         mixerRuntime.launchControlMixer[i] = mixerRuntime.currentMixer[i];
 335         // limit the front motors to minimum output
 336         if (mixerRuntime.launchControlMixer[i].pitch < 0.0f) {
 337             mixerRuntime.launchControlMixer[i].pitch = 0.0f;
 338             mixerRuntime.launchControlMixer[i].throttle = 0.0f;
 339         }
 340     }
 341 }
 342 #endif
 343
 344 #ifndef USE_QUAD_MIXER_ONLY
 345
 346 static void mixerConfigureOutput(void)
 347 {
 348     mixerRuntime.motorCount = 0;
 349
 350     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
 351         // load custom mixer into currentMixer
 352         for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 353             // check if done
 354             if (customMotorMixer(i)->throttle == 0.0f) {
 355                 break;
 356             }
 357             mixerRuntime.currentMixer[i] = *customMotorMixer(i);
 358             mixerRuntime.motorCount++;
 359         }
 360     } else {
 361         mixerRuntime.motorCount = mixers[currentMixerMode].motorCount;
 362         if (mixerRuntime.motorCount > MAX_SUPPORTED_MOTORS) {
 363             mixerRuntime.motorCount = MAX_SUPPORTED_MOTORS;
 364         }
 365         // copy motor-based mixers
 366         if (mixers[currentMixerMode].motor) {
 367             for (int i = 0; i < mixerRuntime.motorCount; i++)
 368                 mixerRuntime.currentMixer[i] = mixers[currentMixerMode].motor[i];
 369         }
 370     }
 371 #ifdef USE_LAUNCH_CONTROL
 372     loadLaunchControlMixer();
 373 #endif
 374     mixerResetDisarmedMotors();
 375 }
 376
 377 void mixerLoadMix(int index, motorMixer_t *customMixers)
 378 {
 379     // we're 1-based
 380     index++;
 381     // clear existing
 382     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 383         customMixers[i].throttle = 0.0f;
 384     }
 385     // do we have anything here to begin with?
 386     if (mixers[index].motor != NULL) {
 387         for (int i = 0; i < mixers[index].motorCount; i++) {
 388             customMixers[i] = mixers[index].motor[i];
 389         }
 390     }
 391 }
 392 #else
 393 static void mixerConfigureOutput(void)
 394 {
 395     mixerRuntime.motorCount = QUAD_MOTOR_COUNT;
 396     for (int i = 0; i < mixerRuntime.motorCount; i++) {
 397         mixerRuntime.currentMixer[i] = mixerQuadX[i];
 398     }
 399 #ifdef USE_LAUNCH_CONTROL
 400     loadLaunchControlMixer();
 401 #endif
 402     mixerResetDisarmedMotors();
 403 }
 404 #endif // USE_QUAD_MIXER_ONLY
 405
 406 void mixerInit(mixerMode_e mixerMode)
 407 {
 408     currentMixerMode = mixerMode;
 409
 410     mixerRuntime.feature3dEnabled = featureIsEnabled(FEATURE_3D);
 411
 412     initEscEndpoints();
 413 #ifdef USE_SERVOS
 414     if (mixerIsTricopter()) {
 415         mixerTricopterInit();
 416     }
 417 #endif
 418
 419 #ifdef USE_DYN_IDLE
 420     mixerRuntime.idleThrottleOffset = getDigitalIdleOffset(motorConfig());
 421     mixerRuntime.dynIdleI = 0.0f;
 422     mixerRuntime.prevMinRps = 0.0f;
 423 #endif
 424
 425     mixerConfigureOutput();
 426 }
 427
 428 void mixerResetDisarmedMotors(void)
 429 {
 430     // set disarmed motor values
 431     for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
 432         motor_disarmed[i] = mixerRuntime.disarmMotorOutput;
 433     }
 434 }
 435
 436 mixerMode_e getMixerMode(void)
 437 {
 438     return currentMixerMode;
 439 }
 440
 441 bool mixerModeIsFixedWing(mixerMode_e mixerMode)
 442 {
 443     switch (mixerMode) {
 444     case MIXER_FLYING_WING:
 445     case MIXER_AIRPLANE:
 446     case MIXER_CUSTOM_AIRPLANE:
 447         return true;
 448
 449         break;
 450     default:
 451         return false;
 452
 453         break;
 454     }
 455 }
 456
 457 bool isFixedWing(void)
 458 {
 459     return mixerModeIsFixedWing(currentMixerMode);
 460 }
 461
 462 float getMotorOutputLow(void)
 463 {
 464     return mixerRuntime.motorOutputLow;
 465 }
 466
 467 float getMotorOutputHigh(void)
 468 {
 469     return mixerRuntime.motorOutputHigh;
 470 }