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Plane: separate out slew limit logic for left/right throttles

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This commit is contained in:
Andrew Tridgell 2019-02-02 12:24:00 +11:00
parent 1a56659eec
commit 82c85de469
2 changed files with 6 additions and 6 deletions
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2
ArduPlane/Plane.h
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@ -989,7 +989,7 @@ private:
void calc_nav_yaw_coordinated(float speed_scaler);
void calc_nav_yaw_course(void);
void calc_nav_yaw_ground(void);
void throttle_slew_limit(void);
void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
bool suppress_throttle(void);
void channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in,
SRV_Channel::Aux_servo_function_t func1_out, SRV_Channel::Aux_servo_function_t func2_out);

10
ArduPlane/servos.cpp
View File

@ -22,7 +22,7 @@
/*****************************************
* Throttle slew limit
*****************************************/
void Plane::throttle_slew_limit(void)
void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
{
uint8_t slewrate = aparm.throttle_slewrate;
if (control_mode==AUTO) {
@ -34,9 +34,7 @@ void Plane::throttle_slew_limit(void)
}
// if slew limit rate is set to zero then do not slew limit
if (slewrate) {
SRV_Channels::limit_slew_rate(SRV_Channel::k_throttle, slewrate, G_Dt);
SRV_Channels::limit_slew_rate(SRV_Channel::k_throttleLeft, slewrate, G_Dt);
SRV_Channels::limit_slew_rate(SRV_Channel::k_throttleRight, slewrate, G_Dt);
SRV_Channels::limit_slew_rate(func, slewrate, G_Dt);
}
}
@ -520,6 +518,8 @@ void Plane::servos_twin_engine_mix(void)
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right);
throttle_slew_limit(SRV_Channel::k_throttleLeft);
throttle_slew_limit(SRV_Channel::k_throttleRight);
}
}
@ -601,7 +601,7 @@ void Plane::set_servos(void)
quadplane.in_vtol_mode()) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit();
throttle_slew_limit(SRV_Channel::k_throttle);
}
if (!arming.is_armed()) {