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Plane: slew limit all throttles in one place

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Iampete1 2024-11-16 19:21:22 +00:00 committed by Andrew Tridgell
parent c415c7fbc7
commit 52efe952cd
2 changed files with 9 additions and 7 deletions
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2
ArduPlane/Plane.h
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@ -1159,7 +1159,7 @@ private:
void servos_twin_engine_mix(); void servos_twin_engine_mix();
void force_flare(); void force_flare();
void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle); void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func); void throttle_slew_limit();
bool suppress_throttle(void); bool suppress_throttle(void);
void update_throttle_hover(); void update_throttle_hover();
void channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in, void channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in,

14
ArduPlane/servos.cpp
View File

@ -22,7 +22,7 @@
/***************************************** /*****************************************
* Throttle slew limit * Throttle slew limit
*****************************************/ *****************************************/
void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func) void Plane::throttle_slew_limit()
{ {
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
const bool do_throttle_slew = (control_mode->does_auto_throttle() || quadplane.in_assisted_flight() || quadplane.in_vtol_mode()); const bool do_throttle_slew = (control_mode->does_auto_throttle() || quadplane.in_assisted_flight() || quadplane.in_vtol_mode());
@ -32,7 +32,9 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
if (!do_throttle_slew) { if (!do_throttle_slew) {
// only do throttle slew limiting in modes where throttle control is automatic // only do throttle slew limiting in modes where throttle control is automatic
SRV_Channels::set_slew_rate(func, 0.0, 100, G_Dt); SRV_Channels::set_slew_rate(SRV_Channel::k_throttle, 0.0, 100, G_Dt);
SRV_Channels::set_slew_rate(SRV_Channel::k_throttleLeft, 0.0, 100, G_Dt);
SRV_Channels::set_slew_rate(SRV_Channel::k_throttleRight, 0.0, 100, G_Dt);
return; return;
} }
@ -55,7 +57,9 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
slewrate = g.takeoff_throttle_slewrate; slewrate = g.takeoff_throttle_slewrate;
} }
#endif #endif
SRV_Channels::set_slew_rate(func, slewrate, 100, G_Dt); SRV_Channels::set_slew_rate(SRV_Channel::k_throttle, slewrate, 100, G_Dt);
SRV_Channels::set_slew_rate(SRV_Channel::k_throttleLeft, slewrate, 100, G_Dt);
SRV_Channels::set_slew_rate(SRV_Channel::k_throttleRight, slewrate, 100, G_Dt);
} }
/* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode. /* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
@ -793,8 +797,6 @@ void Plane::servos_twin_engine_mix(void)
} else { } else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right);
throttle_slew_limit(SRV_Channel::k_throttleLeft);
throttle_slew_limit(SRV_Channel::k_throttleRight);
} }
} }
@ -913,7 +915,7 @@ void Plane::set_servos(void)
airbrake_update(); airbrake_update();
// slew rate limit throttle // slew rate limit throttle
throttle_slew_limit(SRV_Channel::k_throttle); throttle_slew_limit();
int8_t min_throttle = 0; int8_t min_throttle = 0;
#if AP_ICENGINE_ENABLED #if AP_ICENGINE_ENABLED