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AP_Motors: init members in constructor 

Also add f to end of float constants
This commit is contained in:
Randy Mackay 2015-05-25 20:17:35 +09:00
parent 8f275ca2c4
commit 71e4bccecb
2 changed files with 10 additions and 3 deletions
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7
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -105,10 +105,17 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// Constructor
AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
_roll_control_input(0.0f),
_pitch_control_input(0.0f),
_throttle_control_input(0.0f),
_yaw_control_input(0.0f),
_throttle_pwm_scalar(1.0f),
_loop_rate(loop_rate),
_speed_hz(speed_hz),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),
_throttle_radio_min(1100),
_throttle_radio_max(1900),
_hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE),
_spin_when_armed_ramped(0),
_throttle_thr_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT),

6
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -254,9 +254,9 @@ protected:
// RPY channels typically +/-45 degrees servo travel between +/-400 PWM
// Throttle channel typically 0-1000 range converts to 1100-1900 PWM for final output signal to motors
// ToDo: this should all be handled as floats +/- 1.0 instead of PWM and fake angle ranges
int16_t calc_roll_pwm() { return (_roll_control_input / 11.25);}
int16_t calc_pitch_pwm() { return (_pitch_control_input / 11.25);}
int16_t calc_yaw_pwm() { return (_yaw_control_input / 11.25);}
int16_t calc_roll_pwm() { return (_roll_control_input / 11.25f);}
int16_t calc_pitch_pwm() { return (_pitch_control_input / 11.25f);}
int16_t calc_yaw_pwm() { return (_yaw_control_input / 11.25f);}
int16_t calc_throttle_radio_output() { return (_throttle_control_input * _throttle_pwm_scalar) + _throttle_radio_min;}
// flag bitmask