apm 3.4.6 四轴混控代码解析

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