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rosflight / firmware

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mixer saturation handling

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wynn4
wynn4 commented Oct 14, 2017

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 w

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