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Plane: Quadplane remove THR_MIN_PWM and THR_MAX_PWM

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This commit is contained in:
Iampete1 2021-09-04 18:16:53 +01:00 committed by Willian Galvani
parent 28f990f40a
commit 7c9eec4173
4 changed files with 11 additions and 23 deletions
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2
ArduPlane/afs_plane.cpp
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@ -81,7 +81,7 @@ void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
if (plane.quadplane.available()) { if (plane.quadplane.available()) {
// setup AP_Motors outputs for failsafe // setup AP_Motors outputs for failsafe
uint16_t mask = plane.quadplane.motors->get_motor_mask(); uint16_t mask = plane.quadplane.motors->get_motor_mask();
hal.rcout->set_failsafe_pwm(mask, plane.quadplane.thr_min_pwm); hal.rcout->set_failsafe_pwm(mask, plane.quadplane.motors->get_pwm_output_min());
} }
} }

3
ArduPlane/motor_test.cpp
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@ -42,6 +42,9 @@ void QuadPlane::motor_test_output()
int16_t pwm = 0; // pwm that will be output to the motors int16_t pwm = 0; // pwm that will be output to the motors
// calculate pwm based on throttle type // calculate pwm based on throttle type
const int16_t thr_min_pwm = motors->get_pwm_output_min();
const int16_t thr_max_pwm = motors->get_pwm_output_max();
switch (motor_test.throttle_type) { switch (motor_test.throttle_type) {
case MOTOR_TEST_THROTTLE_PERCENT: case MOTOR_TEST_THROTTLE_PERCENT:
// sanity check motor_test.throttle value // sanity check motor_test.throttle value

25
ArduPlane/quadplane.cpp
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@ -79,23 +79,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("RC_SPEED", 21, QuadPlane, rc_speed, 490), AP_GROUPINFO("RC_SPEED", 21, QuadPlane, rc_speed, 490),
// @Param: THR_MIN_PWM // 22: THR_MIN_PWM
// @DisplayName: Minimum PWM output // 23: THR_MAX_PWM
// @Description: This is the minimum PWM output for the quad motors
// @Units: PWM
// @Range: 800 2200
// @Increment: 1
// @User: Standard
AP_GROUPINFO("THR_MIN_PWM", 22, QuadPlane, thr_min_pwm, 1000),
// @Param: THR_MAX_PWM
// @DisplayName: Maximum PWM output
// @Description: This is the maximum PWM output for the quad motors
// @Units: PWM
// @Range: 800 2200
// @Increment: 1
// @User: Standard
AP_GROUPINFO("THR_MAX_PWM", 23, QuadPlane, thr_max_pwm, 2000),
// @Param: ASSIST_SPEED // @Param: ASSIST_SPEED
// @DisplayName: Quadplane assistance speed // @DisplayName: Quadplane assistance speed
@ -632,6 +617,10 @@ const AP_Param::ConversionInfo q_conversion_table[] = {
{ Parameters::k_param_q_attitude_control, 449, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FF" }, // Q_A_RAT_RLL_FF { Parameters::k_param_q_attitude_control, 449, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FF" }, // Q_A_RAT_RLL_FF
{ Parameters::k_param_q_attitude_control, 450, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FF" }, // Q_A_RAT_PIT_FF { Parameters::k_param_q_attitude_control, 450, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FF" }, // Q_A_RAT_PIT_FF
{ Parameters::k_param_q_attitude_control, 451, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FF" }, // Q_A_RAT_YAW_FILT { Parameters::k_param_q_attitude_control, 451, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FF" }, // Q_A_RAT_YAW_FILT
{ Parameters::k_param_quadplane, 22, AP_PARAM_INT16, "Q_M_PWM_MIN" },
{ Parameters::k_param_quadplane, 23, AP_PARAM_INT16, "Q_M_PWM_MAX" },
}; };
@ -821,7 +810,7 @@ bool QuadPlane::setup(void)
// failsafe will disable motors // failsafe will disable motors
for (uint8_t i=0; i<8; i++) { for (uint8_t i=0; i<8; i++) {
SRV_Channel::Aux_servo_function_t func = SRV_Channels::get_motor_function(i); SRV_Channel::Aux_servo_function_t func = SRV_Channels::get_motor_function(i);
SRV_Channels::set_failsafe_pwm(func, thr_min_pwm); SRV_Channels::set_failsafe_pwm(func, motors->get_pwm_output_min());
} }
transition_state = TRANSITION_DONE; transition_state = TRANSITION_DONE;

4
ArduPlane/quadplane.h
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@ -328,10 +328,6 @@ private:
AP_Int16 rc_speed; AP_Int16 rc_speed;
// min and max PWM for throttle
AP_Int16 thr_min_pwm;
AP_Int16 thr_max_pwm;
// speed below which quad assistance is given // speed below which quad assistance is given
AP_Float assist_speed; AP_Float assist_speed;