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AP_Motors: move constraints to set_throttle

This commit is contained in:
Robert Lefebvre 2015-06-15 22:05:04 -04:00 committed by Randy Mackay
parent 89345bad7a
commit 11214b3414
3 changed files with 6 additions and 6 deletions
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4
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -838,8 +838,8 @@ void AP_MotorsHeli::update_throttle_filter()
{ {
_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate); _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
// prevent _rc_throttle.servo_out from wrapping at int16 max or min // constrain throttle signal to 0-1000
_throttle_control_input = constrain_float(_throttle_filter.get(),-32000,32000); _throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
} }
// set_radio_passthrough used to pass radio inputs directly to outputs // set_radio_passthrough used to pass radio inputs directly to outputs

6
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -244,13 +244,13 @@ void AP_Motors::slow_start(bool true_false)
void AP_Motors::update_throttle_filter() void AP_Motors::update_throttle_filter()
{ {
if (armed()) { if (armed()) {
_throttle_filter.apply(constrain_float(_throttle_in,-100,1100), 1.0f/_loop_rate); _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
} else { } else {
_throttle_filter.reset(0.0f); _throttle_filter.reset(0.0f);
} }
// prevent _throttle_control_input from wrapping at int16 max or min // constrain throttle signal to 0-1000
_throttle_control_input = constrain_float(_throttle_filter.get(),-32000,32000); _throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
} }
// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag // update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag

2
libraries/AP_Motors/AP_Motors_Class.h
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@ -131,7 +131,7 @@ public:
void set_roll(int16_t roll_in) { _roll_control_input = roll_in; }; // range -4500 ~ 4500 void set_roll(int16_t roll_in) { _roll_control_input = roll_in; }; // range -4500 ~ 4500
void set_pitch(int16_t pitch_in) { _pitch_control_input = pitch_in; }; // range -4500 ~ 4500 void set_pitch(int16_t pitch_in) { _pitch_control_input = pitch_in; }; // range -4500 ~ 4500
void set_yaw(int16_t yaw_in) { _yaw_control_input = yaw_in; }; // range -4500 ~ 4500 void set_yaw(int16_t yaw_in) { _yaw_control_input = yaw_in; }; // range -4500 ~ 4500
void set_throttle(float throttle_in) { _throttle_in = throttle_in; }; // range 0 ~ 1000 void set_throttle(float throttle_in) { _throttle_in = constrain_float(throttle_in,-100.0f,1100.0f); }; // range 0 ~ 1000
void set_stabilizing(bool stabilizing) { _flags.stabilizing = stabilizing; } void set_stabilizing(bool stabilizing) { _flags.stabilizing = stabilizing; }
// accessors for roll, pitch, yaw and throttle inputs to motors // accessors for roll, pitch, yaw and throttle inputs to motors