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Motors: remove old throttle curve

This commit is contained in:
Randy Mackay 2015-02-21 17:33:13 +09:00
parent 751dbb7df7
commit 2eaa4a8445
2 changed files with 2 additions and 79 deletions
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70
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -36,32 +36,8 @@ extern const AP_HAL::HAL& hal;
// parameters for the motor class
const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// 0 was used by TB_RATIO
// 1,2,3 were used by throttle curve
// @Param: TCRV_ENABLE
// @DisplayName: Thrust Curve Enable
// @Description: Controls whether a curve is used to linearize the thrust produced by the motors
// @User: Advanced
// @Values: 0:Disabled,1:Enable
AP_GROUPINFO("TCRV_ENABLE", 1, AP_Motors, _throttle_curve_enabled, THROTTLE_CURVE_ENABLED),
// @Param: TCRV_MIDPCT
// @DisplayName: Thrust Curve mid-point percentage
// @Description: Set the pwm position that produces half the maximum thrust of the motors
// @User: Advanced
// @Units: percent
// @Range: 20 80
// @Increment: 1
AP_GROUPINFO("TCRV_MIDPCT", 2, AP_Motors, _throttle_curve_mid, THROTTLE_CURVE_MID_THRUST),
// @Param: TCRV_MAXPCT
// @DisplayName: Thrust Curve max thrust percentage
// @Description: Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept.
// @User: Advanced
// @Units: percent
// @Range: 50 100
// @Increment: 1
AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
// @Param: SPIN_ARMED
// @DisplayName: Motors always spin when armed
// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
@ -153,13 +129,6 @@ AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_t
_flags.slow_start_low_end = true;
};
// init
void AP_Motors::Init()
{
// set-up throttle curve - motors classes will decide whether to use it based on _throttle_curve_enabled parameter
setup_throttle_curve();
};
void AP_Motors::armed(bool arm)
{
_flags.armed = arm;
@ -210,43 +179,6 @@ void AP_Motors::output()
}
};
// setup_throttle_curve - used to linearise thrust output by motors
// returns true if set up successfully
bool AP_Motors::setup_throttle_curve()
{
int16_t min_pwm = _rc_throttle.radio_min;
int16_t max_pwm = _rc_throttle.radio_max;
int16_t mid_throttle_pwm = (max_pwm + min_pwm) / 2;
int16_t mid_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_mid/100.0f);
int16_t max_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_max/100.0f);
bool retval = true;
// some basic checks that the curve is valid
if( mid_thrust_pwm >= (min_pwm+_min_throttle) && mid_thrust_pwm <= max_pwm && max_thrust_pwm >= mid_thrust_pwm && max_thrust_pwm <= max_pwm ) {
// clear curve
_throttle_curve.clear();
// curve initialisation
retval &= _throttle_curve.add_point(min_pwm, min_pwm);
retval &= _throttle_curve.add_point(min_pwm+_min_throttle, min_pwm+_min_throttle);
retval &= _throttle_curve.add_point(mid_throttle_pwm, mid_thrust_pwm);
retval &= _throttle_curve.add_point(max_pwm, max_thrust_pwm);
// return success
return retval;
}else{
retval = false;
}
// disable throttle curve if not set-up correctly
if( !retval ) {
_throttle_curve_enabled = false;
hal.console->println_P(PSTR("AP_Motors: failed to create throttle curve"));
}
return retval;
}
// slow_start - set to true to slew motors from current speed to maximum
// Note: this must be set immediately before a step up in throttle
void AP_Motors::slow_start(bool true_false)

11
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -7,7 +7,6 @@
#include <AP_Progmem.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Notify.h> // Notify library
#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
#include <RC_Channel.h> // RC Channel Library
// offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays
@ -88,7 +87,7 @@ public:
AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// init
virtual void Init();
virtual void Init() {}
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
@ -145,10 +144,6 @@ public:
// set_current - set current to be used for output scaling
virtual void set_current(float current){ _batt_current = current; }
// setup_throttle_curve - used to linearlise thrust output by motors
// returns true if curve is created successfully
bool setup_throttle_curve();
// 1 if motor is enabled, 0 otherwise
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
@ -195,10 +190,6 @@ protected:
static const uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM;
// parameters
AP_CurveInt16_Size4 _throttle_curve; // curve used to linearize the pwm->thrust
AP_Int8 _throttle_curve_enabled; // enable throttle curve
AP_Int8 _throttle_curve_mid; // throttle which produces 1/2 the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
AP_Int8 _throttle_curve_max; // throttle which produces the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
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