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Sub: Support changing update period in Motors

This commit is contained in:
Leonard Hall 2022-12-07 12:40:47 +10:30 committed by Andrew Tridgell
parent 0e50b5bb94
commit 578cc41372
2 changed files with 5 additions and 3 deletions
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7
ArduSub/ArduSub.cpp
View File

@ -132,11 +132,14 @@ constexpr int8_t Sub::_failsafe_priorities[5];
void Sub::run_rate_controller() void Sub::run_rate_controller()
{ {
const float last_loop_time_s = AP::scheduler().get_last_loop_time_s();
motors.set_dt(last_loop_time_s);
attitude_control.set_dt(last_loop_time_s);
pos_control.set_dt(last_loop_time_s);
//don't run rate controller in manual or motordetection modes //don't run rate controller in manual or motordetection modes
if (control_mode != MANUAL && control_mode != MOTOR_DETECT) { if (control_mode != MANUAL && control_mode != MOTOR_DETECT) {
// run low level rate controllers that only require IMU data and set loop time // run low level rate controllers that only require IMU data and set loop time
attitude_control.set_dt(AP::scheduler().get_last_loop_time_s());
pos_control.set_dt(AP::scheduler().get_last_loop_time_s());
attitude_control.rate_controller_run(); attitude_control.rate_controller_run();
} }
} }

1
ArduSub/radio.cpp
View File

@ -50,7 +50,6 @@ void Sub::init_rc_in()
void Sub::init_rc_out() void Sub::init_rc_out()
{ {
motors.set_update_rate(g.rc_speed); motors.set_update_rate(g.rc_speed);
motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), AP_Motors::motor_frame_type::MOTOR_FRAME_TYPE_PLUS); motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), AP_Motors::motor_frame_type::MOTOR_FRAME_TYPE_PLUS);
motors.convert_pwm_min_max_param(channel_throttle->get_radio_min(), channel_throttle->get_radio_max()); motors.convert_pwm_min_max_param(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
motors.update_throttle_range(); motors.update_throttle_range();