Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: Tradheli - maintain consistent variable types as used in calcs 

add override to declaration of new functions
This commit is contained in:
bnsgeyer 2019-02-10 15:57:05 -05:00 committed by Randy Mackay
parent cca58e393a
commit 51d4029f03
4 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Motors/AP_MotorsHeli_Dual.h
View File

@ -74,10 +74,10 @@ public:
bool rotor_speed_above_critical() const override { return _rotor.get_rotor_speed() > _rotor.get_critical_speed(); }
// get_governor_output
float get_governor_output() const { return _rotor.get_governor_output(); }
float get_governor_output() const override { return _rotor.get_governor_output(); }
// get_control_output
float get_control_output() const { return _rotor.get_control_output(); }
float get_control_output() const override { return _rotor.get_control_output(); }
// calculate_scalars - recalculates various scalars used
void calculate_scalars() override;

4
libraries/AP_Motors/AP_MotorsHeli_Quad.h
View File

@ -55,10 +55,10 @@ public:
bool rotor_speed_above_critical() const override { return _rotor.get_rotor_speed() > _rotor.get_critical_speed(); }
// get_governor_output
float get_governor_output() const { return _rotor.get_governor_output(); }
float get_governor_output() const override { return _rotor.get_governor_output(); }
// get_control_output
float get_control_output() const { return _rotor.get_control_output(); }
float get_control_output() const override { return _rotor.get_control_output(); }
// calculate_scalars - recalculates various scalars used
void calculate_scalars() override;

6
libraries/AP_Motors/AP_MotorsHeli_RSC.h
View File

@ -69,7 +69,7 @@ public:
float get_rotor_speed() const;
// set_rotor_rpm - when speed sensor is available for governor
void set_rotor_rpm(int16_t rotor_rpm) {_rotor_rpm = rotor_rpm; }
void set_rotor_rpm(int16_t rotor_rpm) {_rotor_rpm = (float)rotor_rpm; }
// get_governor_output
float get_governor_output() const { return _governor_output; }
@ -113,11 +113,11 @@ private:
float _thrcrv_poly[4][4]; // spline polynomials for throttle curve interpolation
uint16_t _power_slewrate = 0; // slewrate for throttle (percentage per second)
float _collective_in; // collective in for throttle curve calculation, range 0-1.0f
int16_t _rotor_rpm; // rotor rpm from speed sensor for governor
float _rotor_rpm; // rotor rpm from speed sensor for governor
float _governor_disengage = 0.0f; // throttle percentage where governor disenages to allow return to flight idle
float _governor_droop_setting = 0.0f; // governor droop setting, range 0-100%
float _governor_output = 0.0f; // governor output for rotor speed control
int16_t _governor_setpoint = 0.0f; // governor speed setpoint, range 800-3500 rpm
float _governor_setpoint = 0.0f; // governor speed setpoint, range 800-3500 rpm
bool _governor_engage = false; // RSC governor status flag for soft-start
float _governor_tc = 0.0f; // governor throttle curve gain, range 50-100%

4
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -73,10 +73,10 @@ public:
bool rotor_speed_above_critical() const override { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
// get_governor_output
float get_governor_output() const { return _main_rotor.get_governor_output(); }
float get_governor_output() const override { return _main_rotor.get_governor_output(); }
// get_control_output
float get_control_output() const { return _main_rotor.get_control_output(); }
float get_control_output() const override{ return _main_rotor.get_control_output(); }
// calculate_scalars - recalculates various scalars used
void calculate_scalars() override;