AP_MotorsMatrix::output_armed_stabilizing:
1、针对每个舵机,计算roll和pitch占用的控制量,并按油门量最大不超过0.5计算yaw最大可使用的控制量
// calculate roll and pitch for each motor
// calculate the amount of yaw input that each motor can accept
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i] && (_test_order[i] != 0xff)) {
_thrust_rpyt_out[i] = roll_thrust * _roll_factor[i] + pitch_thrust * _pitch_factor[i];
if (!is_zero(_yaw_factor[i])){
if (yaw_thrust * _yaw_factor[i] > 0.0f) {
unused_range = fabsf((1.0f - (throttle_thrust_best_rpy + _thrust_rpyt_out[i]))/_yaw_factor[i]);
if (yaw_allowed > unused_range) {
yaw_allowed = unused_ran