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Motors: add loop_rate to constructor

This commit is contained in:
Randy Mackay 2015-02-21 15:45:56 +09:00
parent ec9d7dd99e
commit 77d4b3a2ae
2 changed files with 4 additions and 2 deletions
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3
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -126,11 +126,12 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
};
// Constructor
AP_Motors::AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz ) :
AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz) :
_rc_roll(rc_roll),
_rc_pitch(rc_pitch),
_rc_throttle(rc_throttle),
_rc_yaw(rc_yaw),
_loop_rate(loop_rate),
_speed_hz(speed_hz),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),

3
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -85,7 +85,7 @@ class AP_Motors {
public:
// Constructor
AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// init
virtual void Init();
@ -211,6 +211,7 @@ protected:
RC_Channel& _rc_pitch; // pitch input in from users is held in servo_out
RC_Channel& _rc_throttle; // throttle input in from users is held in servo_out
RC_Channel& _rc_yaw; // yaw input in from users is held in servo_out
uint16_t _loop_rate; // rate at which output() function is called (normally 400hz)
uint16_t _speed_hz; // speed in hz to send updates to motors
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)