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https://github.com/ArduPilot/ardupilot
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Motors: remove old throttle curve
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751dbb7df7
commit
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@ -36,32 +36,8 @@ extern const AP_HAL::HAL& hal;
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// parameters for the motor class
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const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
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// 0 was used by TB_RATIO
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// 1,2,3 were used by throttle curve
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// @Param: TCRV_ENABLE
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// @DisplayName: Thrust Curve Enable
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// @Description: Controls whether a curve is used to linearize the thrust produced by the motors
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// @User: Advanced
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// @Values: 0:Disabled,1:Enable
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AP_GROUPINFO("TCRV_ENABLE", 1, AP_Motors, _throttle_curve_enabled, THROTTLE_CURVE_ENABLED),
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// @Param: TCRV_MIDPCT
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// @DisplayName: Thrust Curve mid-point percentage
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// @Description: Set the pwm position that produces half the maximum thrust of the motors
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// @User: Advanced
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// @Units: percent
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// @Range: 20 80
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// @Increment: 1
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AP_GROUPINFO("TCRV_MIDPCT", 2, AP_Motors, _throttle_curve_mid, THROTTLE_CURVE_MID_THRUST),
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// @Param: TCRV_MAXPCT
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// @DisplayName: Thrust Curve max thrust percentage
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// @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.
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// @User: Advanced
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// @Units: percent
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// @Range: 50 100
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// @Increment: 1
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AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
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// @Param: SPIN_ARMED
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// @DisplayName: Motors always spin when armed
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// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
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@ -153,13 +129,6 @@ AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_t
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_flags.slow_start_low_end = true;
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};
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// init
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void AP_Motors::Init()
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{
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// set-up throttle curve - motors classes will decide whether to use it based on _throttle_curve_enabled parameter
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setup_throttle_curve();
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};
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void AP_Motors::armed(bool arm)
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{
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_flags.armed = arm;
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@ -210,43 +179,6 @@ void AP_Motors::output()
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}
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};
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// setup_throttle_curve - used to linearise thrust output by motors
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// returns true if set up successfully
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bool AP_Motors::setup_throttle_curve()
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{
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int16_t min_pwm = _rc_throttle.radio_min;
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int16_t max_pwm = _rc_throttle.radio_max;
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int16_t mid_throttle_pwm = (max_pwm + min_pwm) / 2;
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int16_t mid_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_mid/100.0f);
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int16_t max_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_max/100.0f);
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bool retval = true;
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// some basic checks that the curve is valid
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if( mid_thrust_pwm >= (min_pwm+_min_throttle) && mid_thrust_pwm <= max_pwm && max_thrust_pwm >= mid_thrust_pwm && max_thrust_pwm <= max_pwm ) {
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// clear curve
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_throttle_curve.clear();
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// curve initialisation
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retval &= _throttle_curve.add_point(min_pwm, min_pwm);
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retval &= _throttle_curve.add_point(min_pwm+_min_throttle, min_pwm+_min_throttle);
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retval &= _throttle_curve.add_point(mid_throttle_pwm, mid_thrust_pwm);
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retval &= _throttle_curve.add_point(max_pwm, max_thrust_pwm);
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// return success
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return retval;
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}else{
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retval = false;
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}
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// disable throttle curve if not set-up correctly
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if( !retval ) {
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_throttle_curve_enabled = false;
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hal.console->println_P(PSTR("AP_Motors: failed to create throttle curve"));
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}
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return retval;
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}
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// slow_start - set to true to slew motors from current speed to maximum
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// Note: this must be set immediately before a step up in throttle
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void AP_Motors::slow_start(bool true_false)
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@ -7,7 +7,6 @@
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#include <AP_Progmem.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Notify.h> // Notify library
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#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <RC_Channel.h> // RC Channel Library
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// offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays
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@ -88,7 +87,7 @@ public:
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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);
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// init
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virtual void Init();
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virtual void Init() {}
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// set update rate to motors - a value in hertz
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virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
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@ -145,10 +144,6 @@ public:
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// set_current - set current to be used for output scaling
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virtual void set_current(float current){ _batt_current = current; }
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// setup_throttle_curve - used to linearlise thrust output by motors
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// returns true if curve is created successfully
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bool setup_throttle_curve();
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// 1 if motor is enabled, 0 otherwise
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bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
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@ -195,10 +190,6 @@ protected:
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static const uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM;
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// parameters
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AP_CurveInt16_Size4 _throttle_curve; // curve used to linearize the pwm->thrust
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AP_Int8 _throttle_curve_enabled; // enable throttle curve
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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
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AP_Int8 _throttle_curve_max; // throttle which produces the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
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AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
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AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range
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