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AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED

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Leonard Hall 2016-06-09 12:42:38 +09:00 committed by Randy Mackay
parent 488f90b39d
commit 2c811364d3
2 changed files with 12 additions and 11 deletions
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17
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -29,13 +29,7 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// 0 was used by TB_RATIO
// 1,2,3 were used by throttle curve
// @Param: SPIN_ARMED
// @DisplayName: Motors always spin when armed
// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
// @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast
// @User: Standard
AP_GROUPINFO("SPIN_ARMED", 5, AP_MotorsMulticopter, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
// 5 was SPIN_ARMED
// @Param: YAW_HEADROOM
// @DisplayName: Matrix Yaw Min
@ -108,6 +102,13 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @User: Advanced
AP_GROUPINFO("PWM_MAX", 17, AP_MotorsMulticopter, _pwm_max, 0),
// @Param: SPIN_ARM
// @DisplayName: Motor Spin armed
// @Description: Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range
// @Values: 0.0:Low, 0.1:Default, 0.2:High
// @User: Advanced
AP_GROUPINFO("SPIN_ARM", 19, AP_MotorsMulticopter, _thrust_curve_arm, AP_MOTORS_SPIN_ARM_DEFAULT),
// @Param: THST_HOVER
// @DisplayName: Thrust Hover Value
// @Description: Motor thrust needed to hover expressed as a number from 0 to 1
@ -415,7 +416,7 @@ void AP_MotorsMulticopter::output_logic()
} else { // _spool_desired == SPIN_WHEN_ARMED
float spin_up_armed_ratio = 0.0f;
if (_min_throttle > 0) {
spin_up_armed_ratio = (float)_spin_when_armed / _min_throttle;
spin_up_armed_ratio = _thrust_curve_arm / _min_throttle;
}
_spin_up_ratio += constrain_float(spin_up_armed_ratio-_spin_up_ratio, -spool_step, spool_step);
}

6
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -15,9 +15,10 @@
#define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed
#define AP_MOTORS_YAW_HEADROOM_DEFAULT 200
#define AP_MOTORS_THST_EXPO_DEFAULT 0.65f // set to 0 for linear and 1 for second order approximation
#define AP_MOTORS_SPIN_MAX_DEFAULT 0.95f // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_THST_HOVER_DEFAULT 0.5f // the estimated hover throttle, 0 ~ 1
#define AP_MOTORS_THST_HOVER_TC 10.0f // time constant used to update estimated hover throttle, 0 ~ 1
#define AP_MOTORS_SPIN_MAX_DEFAULT 0.95f // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_SPIN_ARM_DEFAULT 0.10f // throttle out ratio which produces the armed spin rate. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_BAT_VOLT_MAX_DEFAULT 0.0f // voltage limiting max default
#define AP_MOTORS_BAT_VOLT_MIN_DEFAULT 0.0f // voltage limiting min default (voltage dropping below this level will have no effect)
#define AP_MOTORS_BAT_CURR_MAX_DEFAULT 0.0f // current limiting max default
@ -143,11 +144,10 @@ protected:
} _multicopter_flags;
// parameters
AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range
AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation
AP_Float _thrust_curve_max; // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
AP_Float _thrust_curve_arm; // throttle out ratio which produces the armed spin rate. (i.e. 0 ~ 1 ) of the full throttle range
AP_Float _batt_voltage_max; // maximum voltage used to scale lift
AP_Float _batt_voltage_min; // minimum voltage used to scale lift
AP_Float _batt_current_max; // current over which maximum throttle is limited