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Copter: init multicopter flags

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Resolves coverity warning

Also fixed indentation
This commit is contained in:
Randy Mackay 2015-07-25 14:00:29 +09:00
parent 0645453997
commit 5032cf9fbc
1 changed files with 11 additions and 7 deletions
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18
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -115,6 +115,10 @@ AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz
// disable all motors by default // disable all motors by default
memset(motor_enabled, false, sizeof(motor_enabled)); memset(motor_enabled, false, sizeof(motor_enabled));
// init flags
_multicopter_flags.slow_start = false;
_multicopter_flags.slow_start_low_end = true;
// setup battery voltage filtering // setup battery voltage filtering
_batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ); _batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f); _batt_voltage_filt.reset(1.0f);
@ -179,14 +183,14 @@ void AP_MotorsMulticopter::update_max_throttle()
// implement slow start // implement slow start
if (_multicopter_flags.slow_start) { if (_multicopter_flags.slow_start) {
// increase slow start throttle // increase slow start throttle
_max_throttle += AP_MOTOR_SLOW_START_INCREMENT; _max_throttle += AP_MOTOR_SLOW_START_INCREMENT;
// turn off slow start if we've reached max throttle // turn off slow start if we've reached max throttle
if (_max_throttle >= _throttle_control_input) { if (_max_throttle >= _throttle_control_input) {
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE; _max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
_multicopter_flags.slow_start = false; _multicopter_flags.slow_start = false;
} }
return; return;
} }