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AP_MotorsHeli: move_actuators to -1 to +1 range

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This commit is contained in:
Randy Mackay 2016-02-02 21:30:16 +09:00
parent 8057d2fc58
commit 1197a439af
1 changed files with 1 additions and 4 deletions
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libraries/AP_Motors/AP_MotorsHeli.h
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@ -191,7 +191,7 @@ protected:
void update_throttle_filter();
// move_actuators - moves swash plate and tail rotor
virtual void move_actuators(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out) = 0;
virtual void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) = 0;
// reset_swash_servo - free up swash servo for maximum movement
static void reset_swash_servo(RC_Channel& servo);
@ -231,9 +231,6 @@ protected:
float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _roll_scaler = 1; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler = 1; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar = 1; // collective scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
float _main_rotor_power = 0; // estimated main rotor power load, range 0-1.0f, used for RSC feedforward
int16_t _collective_out = 0; // actual collective pitch value. Required by the main code for calculating cruise throttle
int16_t _collective_mid_pwm = 0; // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000)
int16_t _delta_phase_angle = 0; // phase angle dynamic compensation
int16_t _roll_radio_passthrough = 0; // roll control PWM direct from radio, used for manual control