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AP_MotorsUGV: consolidate parameter sanity checks

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This commit is contained in:
Randy Mackay 2018-05-02 17:19:12 +09:00
parent dcce9dffba
commit 34e5f521ad
2 changed files with 14 additions and 6 deletions
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17
APMrover2/AP_MotorsUGV.cpp
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@ -106,9 +106,6 @@ void AP_MotorsUGV::init()
// set safety output
setup_safety_output();
// sanity check parameters
_vector_throttle_base = constrain_float(_vector_throttle_base, 0.0f, 100.0f);
}
// setup output in case of main CPU failure
@ -162,9 +159,6 @@ void AP_MotorsUGV::set_steering(float steering)
// set throttle as a value from -100 to 100
void AP_MotorsUGV::set_throttle(float throttle)
{
// sanity check throttle min and max
_throttle_min = constrain_int16(_throttle_min, 0, 20);
_throttle_max = constrain_int16(_throttle_max, 30, 100);
// check throttle is between -_throttle_max ~ +_throttle_max but outside -throttle_min ~ +throttle_min
_throttle = constrain_float(throttle, -_throttle_max, _throttle_max);
@ -189,6 +183,9 @@ void AP_MotorsUGV::output(bool armed, float dt)
armed = false;
}
// sanity check parameters
sanity_check_parameters();
// clear and set limits based on input (limit flags may be set again by output_regular or output_skid_steering methods)
set_limits_from_input(armed, _steering, _throttle);
@ -333,6 +330,14 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
return true;
}
// sanity check parameters
void AP_MotorsUGV::sanity_check_parameters()
{
_throttle_min = constrain_int16(_throttle_min, 0, 20);
_throttle_max = constrain_int16(_throttle_max, 30, 100);
_vector_throttle_base = constrain_float(_vector_throttle_base, 0.0f, 100.0f);
}
// setup pwm output type
void AP_MotorsUGV::setup_pwm_type()
{

3
APMrover2/AP_MotorsUGV.h
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@ -74,6 +74,9 @@ public:
protected:
// sanity check parameters
void sanity_check_parameters();
// setup pwm output type
void setup_pwm_type();