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AP_Motors: added a SPIN_MIN check

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and check SPIN_ARM <= SPIN_MIN
This commit is contained in:
Andrew Tridgell 2022-09-11 08:58:08 +10:00 committed by Peter Hall
parent fb3a7d0d10
commit 3d63a968cf
1 changed files with 10 additions and 1 deletions
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11
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -104,7 +104,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @Param: SPIN_MIN // @Param: SPIN_MIN
// @DisplayName: Motor Spin minimum // @DisplayName: Motor Spin minimum
// @Description: Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM. // @Description: Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.
// @Values: 0.0:Low, 0.15:Default, 0.3:High // @Values: 0.0:Low, 0.15:Default, 0.25:High
// @User: Advanced // @User: Advanced
AP_GROUPINFO("SPIN_MIN", 18, AP_MotorsMulticopter, _spin_min, AP_MOTORS_SPIN_MIN_DEFAULT), AP_GROUPINFO("SPIN_MIN", 18, AP_MotorsMulticopter, _spin_min, AP_MOTORS_SPIN_MIN_DEFAULT),
@ -823,5 +823,14 @@ bool AP_MotorsMulticopter::arming_checks(size_t buflen, char *buffer) const
} }
} }
if (_spin_min > 0.3) {
hal.util->snprintf(buffer, buflen, "SPIN_MIN too high %.2f, max 0.3", _spin_min.get());
return false;
}
if (_spin_arm > _spin_min) {
hal.util->snprintf(buffer, buflen, "SPIN_ARM higher than SPIN_MIN");
return false;
}
return true; return true;
} }