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AP_MotorsMulticopter: throttle_radio_min, max to multicopter class 

Moved in from Motors class, only ever used by multicopters
No functional change
This commit is contained in:
Leonard Hall 2016-01-21 15:36:13 +09:00 committed by Randy Mackay
parent 2c9a02066d
commit 420b90953c
2 changed files with 4 additions and 0 deletions
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2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -108,6 +108,8 @@ AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz
_throttle_rpy_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT), _throttle_rpy_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE), _min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE), _hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE),
_throttle_radio_min(1100),
_throttle_radio_max(1900),
_batt_voltage_resting(0.0f), _batt_voltage_resting(0.0f),
_batt_current_resting(0.0f), _batt_current_resting(0.0f),
_batt_resistance(0.0f), _batt_resistance(0.0f),

2
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -174,6 +174,8 @@ protected:
float _throttle_rpy_mix; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1 float _throttle_rpy_mix; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying) int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000) int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000)
int16_t _throttle_radio_min; // minimum radio channel pwm
int16_t _throttle_radio_max; // maximum radio channel pwm
float _throttle_thrust_max; // the maximum allowed throttle thrust 0.0 to 1.0 in the range throttle_min to throttle_max float _throttle_thrust_max; // the maximum allowed throttle thrust 0.0 to 1.0 in the range throttle_min to throttle_max
// spool variables // spool variables