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AP_Motors: add note about test to new inverse functions

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Iampete1 2021-09-30 22:22:02 +01:00 committed by Peter Hall
parent 484a0b989f
commit 1371499022
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -352,7 +352,8 @@ float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) co
return constrain_float(throttle_ratio * battery_scale, 0.0f, 1.0f); return constrain_float(throttle_ratio * battery_scale, 0.0f, 1.0f);
} }
// inverse of above // inverse of above, tested with AP_Motors/examples/expo_inverse_test
// used to calculate equivelent motor throttle level to direct ouput, used in tailsitter transtions
float AP_MotorsMulticopter::remove_thrust_curve_and_volt_scaling(float throttle) const float AP_MotorsMulticopter::remove_thrust_curve_and_volt_scaling(float throttle) const
{ {
float battery_scale = 1.0; float battery_scale = 1.0;
@ -440,7 +441,8 @@ float AP_MotorsMulticopter::thrust_to_actuator(float thrust_in) const
return _spin_min + (_spin_max - _spin_min) * apply_thrust_curve_and_volt_scaling(thrust_in); return _spin_min + (_spin_max - _spin_min) * apply_thrust_curve_and_volt_scaling(thrust_in);
} }
// inverse of above // inverse of above, tested with AP_Motors/examples/expo_inverse_test
// used to calculate equivelent motor throttle level to direct ouput, used in tailsitter transtions
float AP_MotorsMulticopter::actuator_to_thrust(float actuator) const float AP_MotorsMulticopter::actuator_to_thrust(float actuator) const
{ {
actuator = (actuator - _spin_min) / (_spin_max - _spin_min); actuator = (actuator - _spin_min) / (_spin_max - _spin_min);