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Copter: remove THR_MID

This commit is contained in:
Leonard Hall 2016-06-09 22:09:55 +09:00 committed by Randy Mackay
parent e9d8a28ec0
commit 48eb4cf674
4 changed files with 2 additions and 17 deletions
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4
ArduCopter/Attitude.cpp
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@ -143,8 +143,8 @@ float Copter::get_pilot_desired_throttle(int16_t throttle_control)
// ensure reasonable throttle values // ensure reasonable throttle values
throttle_control = constrain_int16(throttle_control,0,1000); throttle_control = constrain_int16(throttle_control,0,1000);
// ensure mid throttle is set within a reasonable range // ensure mid throttle is set within a reasonable range
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
float thr_mid = constrain_float(motors.get_throttle_hover(), 0.1f, 0.9f); float thr_mid = constrain_float(motors.get_throttle_hover(), 0.1f, 0.9f);
// check throttle is above, below or in the deadband // check throttle is above, below or in the deadband
@ -203,8 +203,6 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
// get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff // get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
float Copter::get_non_takeoff_throttle() float Copter::get_non_takeoff_throttle()
{ {
// ensure mid throttle is set within a reasonable range
g.throttle_mid = constrain_int16(g.throttle_mid,g.throttle_min+50,700);
return MAX(0,motors.get_throttle_hover()/2.0f); return MAX(0,motors.get_throttle_hover()/2.0f);
} }

9
ArduCopter/Parameters.cpp
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@ -294,15 +294,6 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT), GSCALAR(failsafe_throttle_value, "FS_THR_VALUE", FS_THR_VALUE_DEFAULT),
// @Param: THR_MID
// @DisplayName: Throttle Mid Position
// @Description: The throttle output (0 ~ 1000) when throttle stick is in mid position. Used to scale the manual throttle so that the mid throttle stick position is close to the throttle required to hover
// @User: Standard
// @Range: 300 700
// @Units: Percent*10
// @Increment: 10
GSCALAR(throttle_mid, "THR_MID", THR_MID_DEFAULT),
// @Param: THR_DZ // @Param: THR_DZ
// @DisplayName: Throttle deadzone // @DisplayName: Throttle deadzone
// @Description: The deadzone above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes // @Description: The deadzone above and below mid throttle. Used in AltHold, Loiter, PosHold flight modes

3
ArduCopter/Parameters.h
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@ -292,7 +292,7 @@ public:
k_param_radio_tuning_low, k_param_radio_tuning_low,
k_param_rc_speed = 192, k_param_rc_speed = 192,
k_param_failsafe_battery_enabled, k_param_failsafe_battery_enabled,
k_param_throttle_mid, k_param_throttle_mid, // remove
k_param_failsafe_gps_enabled, // remove k_param_failsafe_gps_enabled, // remove
k_param_rc_9, k_param_rc_9,
k_param_rc_12, k_param_rc_12,
@ -416,7 +416,6 @@ public:
// //
AP_Int8 failsafe_throttle; AP_Int8 failsafe_throttle;
AP_Int16 failsafe_throttle_value; AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_mid;
AP_Int16 throttle_deadzone; AP_Int16 throttle_deadzone;
// Flight modes // Flight modes

3
ArduCopter/config.h
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@ -547,9 +547,6 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Throttle control gains // Throttle control gains
// //
#ifndef THR_MID_DEFAULT
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#endif
#ifndef THR_DZ_DEFAULT #ifndef THR_DZ_DEFAULT
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter # define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter