Applied changes for 'crashflip_motor_percent'

From: Turtle/Flip after crash: Add options to use all the motors betaflight#5600 betaflight#5600
ethomas997 · Apr 10, 2018 · 85ac1bc · 85ac1bc
1 parent 9f516e6
commit 85ac1bc
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Showing 3 changed files with 13 additions and 3 deletions.
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -64,6 +64,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .mixerMode = TARGET_DEFAULT_MIXER,
     .yaw_motors_reversed = false,
+    .crashflip_motor_percent = 0,
 );
 
 PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 1);
@@ -671,9 +672,16 @@ static void applyFlipOverAfterCrashModeToMotors(void)
                 signPitch*currentMixer[i].pitch +
                 signRoll*currentMixer[i].roll +
                 signYaw*currentMixer[i].yaw;
-
-            motorOutput = MIN(1.0f, flipPower*motorOutput);
-            motorOutput = motorOutputMin + motorOutput*motorOutputRange;
+
+            if (motorOutput < 0) {
+                if (mixerConfig()->crashflip_motor_percent > 0) {
+                    motorOutput = -motorOutput * (float)mixerConfig()->crashflip_motor_percent / 100.0f;
+                } else {
+                    motorOutput = disarmMotorOutput;
+                }
+            } 
+            motorOutput = MIN(1.0f, flipPower * motorOutput);
+            motorOutput = motorOutputMin + motorOutput * motorOutputRange;
 
             // Add a little bit to the motorOutputMin so props aren't spinning when sticks are centered
             motorOutput = (motorOutput < motorOutputMin + CRASH_FLIP_DEADBAND) ? disarmMotorOutput : (motorOutput - CRASH_FLIP_DEADBAND);

diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
@@ -87,6 +87,7 @@ typedef struct mixer_s {
 typedef struct mixerConfig_s {
     uint8_t mixerMode;
     bool yaw_motors_reversed;
+    uint8_t crashflip_motor_percent;
 } mixerConfig_t;
 
 PG_DECLARE(mixerConfig_t, mixerConfig);

diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
@@ -559,6 +559,7 @@ const clivalue_t valueTable[] = {
 
 // PG_MIXER_CONFIG
     { "yaw_motors_reversed",        VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, yaw_motors_reversed) },
+    { "crashflip_motor_percent",    VAR_UINT8 |  MASTER_VALUE,  .config.minmax = { 0, 100 }, PG_MIXER_CONFIG, offsetof(mixerConfig_t, crashflip_motor_percent) },
 
 // PG_MOTOR_3D_CONFIG
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE, .config.minmax = { PWM_PULSE_MIN, PWM_RANGE_MIDDLE }, PG_MOTOR_3D_CONFIG, offsetof(flight3DConfig_t, deadband3d_low) },