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Copter: get_pilot_desired_throttle gets thr_mid argument default

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This commit is contained in:
Randy Mackay 2016-10-14 14:49:11 +09:00
parent bead957a78
commit a124001b8b
5 changed files with 6 additions and 6 deletions
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2
ArduCopter/Copter.h
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@ -685,7 +685,7 @@ private:
float get_look_ahead_yaw(); float get_look_ahead_yaw();
void update_throttle_hover(); void update_throttle_hover();
void set_throttle_takeoff(); void set_throttle_takeoff();
float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid); float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f);
float get_pilot_desired_climb_rate(float throttle_control); float get_pilot_desired_climb_rate(float throttle_control);
float get_non_takeoff_throttle(); float get_non_takeoff_throttle();
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt); float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);

2
ArduCopter/control_drift.cpp
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@ -64,7 +64,7 @@ void Copter::drift_run()
get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max); get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, aparm.angle_max);
// get pilot's desired throttle // get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->get_control_in(), 0.0f); pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->get_control_in());
// Grab inertial velocity // Grab inertial velocity
const Vector3f& vel = inertial_nav.get_velocity(); const Vector3f& vel = inertial_nav.get_velocity();

2
ArduCopter/control_flip.cpp
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@ -105,7 +105,7 @@ void Copter::flip_run()
} }
// get pilot's desired throttle // get pilot's desired throttle
throttle_out = get_pilot_desired_throttle(channel_throttle->get_control_in(), 0.0f); throttle_out = get_pilot_desired_throttle(channel_throttle->get_control_in());
// get corrected angle based on direction and axis of rotation // get corrected angle based on direction and axis of rotation
// we flip the sign of flip_angle to minimize the code repetition // we flip the sign of flip_angle to minimize the code repetition

4
ArduCopter/control_stabilize.cpp
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@ -11,7 +11,7 @@ bool Copter::stabilize_init(bool ignore_checks)
{ {
// if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high // if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
if (motors.armed() && ap.land_complete && !mode_has_manual_throttle(control_mode) && if (motors.armed() && ap.land_complete && !mode_has_manual_throttle(control_mode) &&
(get_pilot_desired_throttle(channel_throttle->get_control_in(), 0.0f) > get_non_takeoff_throttle())) { (get_pilot_desired_throttle(channel_throttle->get_control_in()) > get_non_takeoff_throttle())) {
return false; return false;
} }
// set target altitude to zero for reporting // set target altitude to zero for reporting
@ -51,7 +51,7 @@ void Copter::stabilize_run()
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// get pilot's desired throttle // get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->get_control_in(), 0.0f); pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->get_control_in());
// call attitude controller // call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());

2
ArduCopter/flight_mode.cpp
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@ -274,7 +274,7 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
// smooth throttle transition when switching from manual to automatic flight modes // smooth throttle transition when switching from manual to automatic flight modes
if (mode_has_manual_throttle(old_control_mode) && !mode_has_manual_throttle(new_control_mode) && motors.armed() && !ap.land_complete) { if (mode_has_manual_throttle(old_control_mode) && !mode_has_manual_throttle(new_control_mode) && motors.armed() && !ap.land_complete) {
// this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle // this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(channel_throttle->get_control_in(), 0.0f)); set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(channel_throttle->get_control_in()));
} }
// cancel any takeoffs in progress // cancel any takeoffs in progress