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Copter: Change from division to multiplication

This commit is contained in:
murata 2022-03-12 02:29:59 +09:00 committed by Andrew Tridgell
parent 7d23d37630
commit 08a1ad3c39
7 changed files with 8 additions and 8 deletions
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2
ArduCopter/Log.cpp
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@ -35,7 +35,7 @@ void Copter::Log_Write_Control_Tuning()
float des_alt_m = 0.0f;
int16_t target_climb_rate_cms = 0;
if (!flightmode->has_manual_throttle()) {
des_alt_m = pos_control->get_pos_target_z_cm() / 100.0f;
des_alt_m = pos_control->get_pos_target_z_cm() * 0.01f;
target_climb_rate_cms = pos_control->get_vel_target_z_cms();
}

4
ArduCopter/compassmot.cpp
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@ -147,7 +147,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
// pass through throttle to motors
SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
SRV_Channels::push();
// read some compass values
@ -157,7 +157,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
battery.read();
// calculate scaling for throttle
throttle_pct = (float)channel_throttle->get_control_in() / 1000.0f;
throttle_pct = (float)channel_throttle->get_control_in() * 0.001f;
throttle_pct = constrain_float(throttle_pct,0.0f,1.0f);
// record maximum throttle

2
ArduCopter/esc_calibration.cpp
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@ -96,7 +96,7 @@ void Copter::esc_calibration_passthrough()
// pass through to motors
SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
SRV_Channels::push();
}
#endif // FRAME_CONFIG != HELI_FRAME

2
ArduCopter/mode.cpp
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@ -713,7 +713,7 @@ void Mode::land_run_horizontal_control()
// interpolate for 1m above that
const float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(),
g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
const float thrust_vector_max = sinf(radians(attitude_limit_cd / 100.0f)) * GRAVITY_MSS * 100.0f;
const float thrust_vector_max = sinf(radians(attitude_limit_cd * 0.01f)) * GRAVITY_MSS * 100.0f;
const float thrust_vector_mag = thrust_vector.xy().length();
if (thrust_vector_mag > thrust_vector_max) {
float ratio = thrust_vector_max / thrust_vector_mag;

2
ArduCopter/mode_flowhold.cpp
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@ -179,7 +179,7 @@ void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input)
for (uint8_t i=0; i<2; i++) {
float &velocity = sensor_flow[i];
float abs_vel_cms = fabsf(velocity)*100;
const float brake_gain = (15.0f * brake_rate_dps.get() + 95.0f) / 100.0f;
const float brake_gain = (15.0f * brake_rate_dps.get() + 95.0f) * 0.01f;
float lean_angle_cd = brake_gain * abs_vel_cms * (1.0f+500.0f/(abs_vel_cms+60.0f));
if (velocity < 0) {
lean_angle_cd = -lean_angle_cd;

2
ArduCopter/mode_poshold.cpp
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@ -41,7 +41,7 @@ bool ModePosHold::init(bool ignore_checks)
pilot_pitch = 0.0f;
// compute brake_gain
brake.gain = (15.0f * (float)g.poshold_brake_rate + 95.0f) / 100.0f;
brake.gain = (15.0f * (float)g.poshold_brake_rate + 95.0f) * 0.01f;
if (copter.ap.land_complete) {
// if landed begin in loiter mode

2
ArduCopter/mode_turtle.cpp
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@ -85,7 +85,7 @@ void ModeTurtle::change_motor_direction(bool reverse)
void ModeTurtle::run()
{
const float flip_power_factor = 1.0f - CRASH_FLIP_EXPO / 100.0f;
const float flip_power_factor = 1.0f - CRASH_FLIP_EXPO * 0.01f;
const bool norc = copter.failsafe.radio || !copter.ap.rc_receiver_present;
const float stick_deflection_pitch = norc ? 0.0f : channel_pitch->norm_input_dz();
const float stick_deflection_roll = norc ? 0.0f : channel_roll->norm_input_dz();