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AP_MotorsMulticopter: use desired_spool from AP_Motors class

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This commit is contained in:
Randy Mackay 2016-02-02 21:13:43 +09:00
parent 93d1f1969c
commit 2716126e40
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -316,7 +316,7 @@ void AP_MotorsMulticopter::output_logic()
{
// force desired and current spool mode if disarmed or not interlocked
if (!_flags.armed || !_flags.interlock) {
_multicopter_flags.spool_desired = DESIRED_SHUT_DOWN;
_spool_desired = DESIRED_SHUT_DOWN;
_multicopter_flags.spool_mode = SHUT_DOWN;
_multicopter_flags.slow_start_low_end = true;
}
@ -333,7 +333,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = true;
// make sure the motors are spooling in the correct direction
if(_multicopter_flags.spool_desired != DESIRED_SHUT_DOWN){
if(_spool_desired != DESIRED_SHUT_DOWN){
_multicopter_flags.spool_mode = SPIN_WHEN_ARMED;
break;
}
@ -357,9 +357,9 @@ void AP_MotorsMulticopter::output_logic()
// set and increment ramp variables
float spool_step = 1.0f/(AP_MOTORS_SPOOL_UP_TIME*_loop_rate);
if(_multicopter_flags.spool_desired == DESIRED_SHUT_DOWN){
if(_spool_desired == DESIRED_SHUT_DOWN){
_throttle_low_end_pct -= spool_step;
} else if(_multicopter_flags.spool_desired == DESIRED_THROTTLE_UNLIMITED ){
} else if(_spool_desired == DESIRED_THROTTLE_UNLIMITED ){
_throttle_low_end_pct += spool_step;
}else{
_throttle_low_end_pct += constrain_float(spin_when_armed_low_end_pct()-_throttle_low_end_pct, -spool_step, spool_step);
@ -389,7 +389,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if(_multicopter_flags.spool_desired != DESIRED_THROTTLE_UNLIMITED ){
if(_spool_desired != DESIRED_THROTTLE_UNLIMITED ){
_multicopter_flags.spool_mode = SPOOL_DOWN;
break;
}
@ -420,7 +420,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if(_multicopter_flags.spool_desired != DESIRED_THROTTLE_UNLIMITED ){
if(_spool_desired != DESIRED_THROTTLE_UNLIMITED ){
_multicopter_flags.spool_mode = SPOOL_DOWN;
break;
}
@ -442,7 +442,7 @@ void AP_MotorsMulticopter::output_logic()
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if(_multicopter_flags.spool_desired == DESIRED_THROTTLE_UNLIMITED ){
if(_spool_desired == DESIRED_THROTTLE_UNLIMITED ){
_multicopter_flags.spool_mode = SPOOL_UP;
break;
}