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AP_Motors: make defaults dependent on vehicle type

This commit is contained in:
bnsgeyer 2023-06-12 19:13:48 -04:00 committed by Bill Geyer
parent 1e521d1a5d
commit 251eb10cfa
2 changed files with 17 additions and 6 deletions
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17
libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
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@ -16,6 +16,21 @@
#endif #endif
#endif #endif
#if APM_BUILD_TYPE(APM_BUILD_Heli)
#define THRST_LIN_THST_EXPO_DEFAULT 0.55f // set to 0 for linear and 1 for second order approximation
#define THRST_LIN_SPIN_MIN_DEFAULT 0.15f // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_SPIN_MAX_DEFAULT 0.95f // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_BAT_VOLT_MAX_DEFAULT 0.0f // voltage limiting max default
#define THRST_LIN_BAT_VOLT_MIN_DEFAULT 0.0f // voltage limiting min default (voltage dropping below this level will have no effect)
#else
#define THRST_LIN_THST_EXPO_DEFAULT 0.65f // set to 0 for linear and 1 for second order approximation
#define THRST_LIN_SPIN_MIN_DEFAULT 0.15f // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_SPIN_MAX_DEFAULT 0.95f // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_BAT_VOLT_MAX_DEFAULT 0.0f // voltage limiting max default
#define THRST_LIN_BAT_VOLT_MIN_DEFAULT 0.0f // voltage limiting min default (voltage dropping below this level will have no effect)
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo Thrust_Linearization::var_info[] = { const AP_Param::GroupInfo Thrust_Linearization::var_info[] = {
@ -75,7 +90,9 @@ Thrust_Linearization::Thrust_Linearization(AP_Motors& _motors) :
batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ); batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
batt_voltage_filt.reset(1.0); batt_voltage_filt.reset(1.0);
#if APM_BUILD_TYPE(APM_BUILD_Heli)
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
#endif
} }
// converts desired thrust to linearized actuator output in a range of 0~1 // converts desired thrust to linearized actuator output in a range of 0~1

6
libraries/AP_Motors/AP_Motors_Thrust_Linearization.h
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@ -3,12 +3,6 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <Filter/LowPassFilter.h> #include <Filter/LowPassFilter.h>
#define THRST_LIN_THST_EXPO_DEFAULT 0.55f // set to 0 for linear and 1 for second order approximation
#define THRST_LIN_SPIN_MIN_DEFAULT 0.15f // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_SPIN_MAX_DEFAULT 0.95f // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_BAT_VOLT_MAX_DEFAULT 0.0f // voltage limiting max default
#define THRST_LIN_BAT_VOLT_MIN_DEFAULT 0.0f // voltage limiting min default (voltage dropping below this level will have no effect)
class AP_Motors; class AP_Motors;
class Thrust_Linearization { class Thrust_Linearization {
friend class AP_MotorsMulticopter; friend class AP_MotorsMulticopter;