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Copter: update get_throttle_pre_takeoff for 0 to 1 range

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Leonard Hall 2016-01-04 21:47:27 +10:30 committed by Randy Mackay
parent 37e6977813
commit 20debc962a
1 changed files with 5 additions and 12 deletions
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17
ArduCopter/Attitude.cpp
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@ -211,9 +211,8 @@ float Copter::get_takeoff_trigger_throttle()
return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
}
// get_throttle_pre_takeoff - convert pilot's input throttle to a throttle output before take-off
// get_throttle_pre_takeoff - convert pilot's input throttle to a throttle output (in the range 0 to 1) before take-off
// used only for althold, loiter, hybrid flight modes
// returns throttle output 0 to 1000
float Copter::get_throttle_pre_takeoff(float input_thr)
{
// exit immediately if input_thr is zero
@ -221,19 +220,13 @@ float Copter::get_throttle_pre_takeoff(float input_thr)
return 0.0f;
}
// TODO: does this parameter sanity check really belong here?
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
// ensure reasonable throttle values
input_thr = constrain_float(input_thr,0.0f,1000.0f);
float in_min = g.throttle_min;
float in_min = 0.0f;
float in_max = get_takeoff_trigger_throttle();
#if FRAME_CONFIG == HELI_FRAME
// helicopters swash will move from bottom to 1/2 of mid throttle
float out_min = 0;
#else
// multicopters will output between spin-when-armed and 1/2 of mid throttle
float out_min = motors.get_throttle_warn();
#endif
float out_min = 0.0f;
float out_max = get_non_takeoff_throttle();
if ((g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0) {