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AP_MotorsMulticopter: add spin_when_armed_low_end_pct

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returns the spin-when-armed value as a number from 0 to 1 in the range 0 to throttle_min
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Leonard Hall 2015-12-19 12:36:26 +09:00 committed by Randy Mackay
parent 49819d822f
commit 64ba45a683
1 changed files with 3 additions and 0 deletions
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libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -140,6 +140,9 @@ protected:
// convert thrust (0~1) range back to pwm range
int16_t calc_thrust_to_pwm(float thrust_in) const;
// spin when armed as a percentage of the 0~1 range from 0 to throttle_min
float spin_when_armed_low_end_pct() { return (float)_spin_when_armed.get() / _min_throttle; }
// flag bitmask
struct {
uint8_t slow_start : 1; // 1 if slow start is active