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AP_Motors: expose min/max pwm

This commit is contained in:
Andrew Tridgell 2016-05-26 14:33:57 +10:00
parent 3ad0190693
commit 65eb9ceb32
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -104,6 +104,10 @@ public:
// flight. Thrust is in the range 0 to 1 // flight. Thrust is in the range 0 to 1
void output_motor_mask(float thrust, uint8_t mask); void output_motor_mask(float thrust, uint8_t mask);
// get minimum or maximum pwm value that can be output to motors
int16_t get_pwm_output_min() const;
int16_t get_pwm_output_max() const;
// set thrust compensation callback // set thrust compensation callback
FUNCTOR_TYPEDEF(thrust_compensation_fn_t, void, float *, uint8_t); FUNCTOR_TYPEDEF(thrust_compensation_fn_t, void, float *, uint8_t);
void set_thrust_compensation_callback(thrust_compensation_fn_t callback) { void set_thrust_compensation_callback(thrust_compensation_fn_t callback) {
@ -142,10 +146,6 @@ protected:
// convert thrust (0~1) range back to pwm range // convert thrust (0~1) range back to pwm range
int16_t calc_thrust_to_pwm(float thrust_in) const; int16_t calc_thrust_to_pwm(float thrust_in) const;
// get minimum or maximum pwm value that can be output to motors
int16_t get_pwm_output_min() const;
int16_t get_pwm_output_max() const;
// apply any thrust compensation for the frame // apply any thrust compensation for the frame
virtual void thrust_compensation(void) {} virtual void thrust_compensation(void) {}