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AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach

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Jonathan Challinger 2013-06-22 18:07:35 -07:00 committed by Randy Mackay
parent 81bb4f26a1
commit ae2b1e3b7e
3 changed files with 12 additions and 1 deletions
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2
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -125,7 +125,7 @@ void AP_MotorsMatrix::output_armed()
if (_rc_throttle->servo_out == 0) {
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
motor_out[i] = _rc_throttle->radio_min;
motor_out[i] = _rc_throttle->radio_min + constrain_int16(_throttle_unsafe,0,AP_MOTORS_THROTTLE_UNSAFE_MAX);
}
}

6
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -34,6 +34,12 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// @Description: Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept.
// @Range: 20 80
AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
// @Param: UNSAFE_THR
// @DisplayName: Armed min throttle
// @Description: Throttle setting used to signal that the copter is armed or otherwise unsafe to approach
// @Range: 0 150
AP_GROUPINFO("UNSAFE_THR", 4, AP_Motors, _throttle_unsafe, AP_MOTORS_THROTTLE_UNSAFE),
AP_GROUPEND
};

5
libraries/AP_Motors/AP_Motors_Class.h
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@ -45,6 +45,9 @@
#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define AP_MOTORS_THROTTLE_UNSAFE 75
#define AP_MOTORS_THROTTLE_UNSAFE_MAX 150
// bit mask for recording which limits we have reached when outputting to motors
#define AP_MOTOR_NO_LIMITS_REACHED 0x00
#define AP_MOTOR_ROLLPITCH_LIMIT 0x01
@ -149,5 +152,7 @@ protected:
// for new stability patch
int16_t _hover_out; // the estimated hover throttle in pwm (i.e. 1000 ~ 2000). calculated from the THR_MID parameter
//Throttle setting used to signal that the copter is armed or otherwise unsafe to approach
AP_Int16 _throttle_unsafe;
};
#endif // __AP_MOTORS_CLASS_H__