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AP_Motors: Heli eliminate _dt member and fix rsc_runup calculation

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Robert Lefebvre 2015-05-28 15:13:04 -04:00 committed by Randy Mackay
parent bc23ea4633
commit 65ca09600c
2 changed files with 3 additions and 7 deletions
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4
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -372,7 +372,7 @@ void AP_MotorsHeli::recalc_scalers()
if (_rsc_ramp_time <= 0) { if (_rsc_ramp_time <= 0) {
_rsc_ramp_time = 1; _rsc_ramp_time = 1;
} }
_rsc_ramp_increment = 1000.0f / (_rsc_ramp_time / _dt); _rsc_ramp_increment = 1000.0f / (_rsc_ramp_time * _loop_rate);
// recalculate rotor runup increment // recalculate rotor runup increment
if (_rsc_runup_time <= 0 ) { if (_rsc_runup_time <= 0 ) {
@ -381,7 +381,7 @@ void AP_MotorsHeli::recalc_scalers()
if (_rsc_runup_time < _rsc_ramp_time) { if (_rsc_runup_time < _rsc_ramp_time) {
_rsc_runup_time = _rsc_ramp_time; _rsc_runup_time = _rsc_ramp_time;
} }
_rsc_runup_increment = 1000.0f / (_rsc_runup_time * 100.0f); _rsc_runup_increment = 1000.0f / (_rsc_runup_time * _loop_rate);
} }
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used) // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)

4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -116,7 +116,6 @@ public:
_rsc_runup_increment(0.0f), _rsc_runup_increment(0.0f),
_rotor_speed_estimate(0.0f), _rotor_speed_estimate(0.0f),
_tail_direct_drive_out(0), _tail_direct_drive_out(0),
_dt(0.01f),
_delta_phase_angle(0) _delta_phase_angle(0)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -192,9 +191,6 @@ public:
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// set_dt for setting main loop rate time
void set_dt(float dt) { _dt = dt; }
// set_delta_phase_angle for setting variable phase angle compensation and force // set_delta_phase_angle for setting variable phase angle compensation and force
// recalculation of collective factors // recalculation of collective factors
void set_delta_phase_angle(int16_t angle); void set_delta_phase_angle(int16_t angle);