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AP_Motors: correct expo parameter description and internal limits

This commit is contained in:
Leonard Hall 2021-05-24 22:43:33 +09:30 committed by Randy Mackay
parent 841aa213cf
commit ac41bb50ee
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -37,8 +37,8 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @Param: THST_EXPO
// @DisplayName: Thrust Curve Expo
// @Description: Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)
// @Range: 0.25 0.8
// @Description: Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
// @Range: -1.0 1.0
// @User: Advanced
AP_GROUPINFO("THST_EXPO", 8, AP_MotorsMulticopter, _thrust_curve_expo, AP_MOTORS_THST_EXPO_DEFAULT),
@ -339,13 +339,13 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) const
{
float throttle_ratio = thrust;
// apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
// apply thrust curve - domain -1.0 to 1.0, range -1.0 to 1.0
float thrust_curve_expo = constrain_float(_thrust_curve_expo, -1.0f, 1.0f);
if (fabsf(thrust_curve_expo) < 0.001) {
if (is_zero(thrust_curve_expo)) {
// zero expo means linear, avoid floating point exception for small values
return thrust;
return _lift_max * thrust;
}
if (!is_zero(_batt_voltage_filt.get())) {
if (is_positive(_batt_voltage_filt.get())) {
throttle_ratio = ((thrust_curve_expo - 1.0f) + safe_sqrt((1.0f - thrust_curve_expo) * (1.0f - thrust_curve_expo) + 4.0f * thrust_curve_expo * _lift_max * thrust)) / (2.0f * thrust_curve_expo * _batt_voltage_filt.get());
} else {
throttle_ratio = ((thrust_curve_expo - 1.0f) + safe_sqrt((1.0f - thrust_curve_expo) * (1.0f - thrust_curve_expo) + 4.0f * thrust_curve_expo * _lift_max * thrust)) / (2.0f * thrust_curve_expo);