Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: rename update_throttle_mix 

was called update_throttle_thr_mix
also minor formatting fixes
This commit is contained in:
Randy Mackay 2020-02-21 15:50:56 +09:00
parent 9fe8e01fe4
commit b1564e95e0
3 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Copter.cpp
View File

@ -297,7 +297,7 @@ void Copter::rc_loop()
void Copter::throttle_loop()
{
// update throttle_low_comp value (controls priority of throttle vs attitude control)
update_throttle_thr_mix();
update_throttle_mix();
// check auto_armed status
update_auto_armed();

2
ArduCopter/Copter.h
View File

@ -770,7 +770,7 @@ private:
void update_land_detector();
void set_land_complete(bool b);
void set_land_complete_maybe(bool b);
void update_throttle_thr_mix();
void update_throttle_mix();
// landing_gear.cpp
void landinggear_update();

8
ArduCopter/land_detector.cpp
View File

@ -137,14 +137,14 @@ void Copter::set_land_complete_maybe(bool b)
ap.land_complete_maybe = b;
}
// update_throttle_thr_mix - sets motors throttle_low_comp value depending upon vehicle state
// sets motors throttle_low_comp value depending upon vehicle state
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
void Copter::update_throttle_thr_mix()
void Copter::update_throttle_mix()
{
#if FRAME_CONFIG != HELI_FRAME
// if disarmed or landed prioritise throttle
if(!motors->armed() || ap.land_complete) {
if (!motors->armed() || ap.land_complete) {
attitude_control->set_throttle_mix_min();
return;
}
@ -175,7 +175,7 @@ void Copter::update_throttle_thr_mix()
// check for requested decent
bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f;
if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) {
if (large_angle_request || large_angle_error || accel_moving || descent_not_demanded) {
attitude_control->set_throttle_mix_max(pos_control->get_vel_z_control_ratio());
} else {
attitude_control->set_throttle_mix_min();