mirror of https://github.com/ArduPilot/ardupilot
AP_Motors: smoother ramp down in output_motor_mask
stop changing motors outside the given mask in output_motor_mask, which gives smoother ramp down in tilt quadplanes when we are transitioning to forward flight thanks to Pete for the suggestion
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@ -733,8 +733,8 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint16_t mask, float
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_motor_mask_override = mask;
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_motor_mask_override = mask;
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for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
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for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
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if (motor_enabled[i]) {
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if (motor_enabled[i] && (mask & (1U << i)) != 0) {
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if ((mask & (1U << i)) && armed() && get_interlock()) {
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if (armed() && get_interlock()) {
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/*
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/*
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apply rudder mixing differential thrust
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apply rudder mixing differential thrust
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copter frame roll is plane frame yaw as this only
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copter frame roll is plane frame yaw as this only
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@ -742,11 +742,12 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint16_t mask, float
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*/
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*/
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float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
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float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
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set_actuator_with_slew(_actuator[i], thrust + diff_thrust);
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set_actuator_with_slew(_actuator[i], thrust + diff_thrust);
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int16_t pwm_output = pwm_min + pwm_range * _actuator[i];
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rc_write(i, pwm_output);
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} else {
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} else {
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rc_write(i, pwm_min);
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// zero throttle
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_actuator[i] = 0.0;
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}
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}
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int16_t pwm_output = pwm_min + pwm_range * _actuator[i];
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rc_write(i, pwm_output);
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}
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}
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}
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}
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}
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}
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@ -92,7 +92,7 @@ void AP_MotorsTri::output_to_motors()
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// sends minimum values out to the motors
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// sends minimum values out to the motors
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for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
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for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
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if (motor_enabled_mask(i)) {
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if (motor_enabled_mask(i)) {
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rc_write(AP_MOTORS_MOT_1+i, output_to_pwm(0));
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_actuator[AP_MOTORS_MOT_1+i] = 0;
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}
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}
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}
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}
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rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
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rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
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