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Plane: wrap Watt Limiiter in #if AP_BATTERY_WATT_MAX_ENABLED

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This commit is contained in:
Tom Pittenger 2023-11-21 11:14:26 -08:00 committed by Peter Barker
parent 496125a8cb
commit b468af81ac
2 changed files with 6 additions and 0 deletions
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2
ArduPlane/Plane.h
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@ -586,10 +586,12 @@ private:
// this controls throttle suppression in auto modes
bool throttle_suppressed;
#if AP_BATTERY_WATT_MAX_ENABLED
// reduce throttle to eliminate battery over-current
int8_t throttle_watt_limit_max;
int8_t throttle_watt_limit_min; // for reverse thrust
uint32_t throttle_watt_limit_timer_ms;
#endif
AP_FixedWing::FlightStage flight_stage = AP_FixedWing::FlightStage::NORMAL;

4
ArduPlane/servos.cpp
View File

@ -422,6 +422,7 @@ void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) co
/*
calculate any throttle limits based on the watt limiter
*/
#if AP_BATTERY_WATT_MAX_ENABLED
void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
{
uint32_t now = millis();
@ -466,6 +467,7 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
min_throttle = constrain_int16(min_throttle, min_throttle + throttle_watt_limit_min, 0);
}
}
#endif // #if AP_BATTERY_WATT_MAX_ENABLED
/*
setup output channels all non-manual modes
@ -509,8 +511,10 @@ void Plane::set_servos_controlled(void)
// compensate for battery voltage drop
throttle_voltage_comp(min_throttle, max_throttle);
#if AP_BATTERY_WATT_MAX_ENABLED
// apply watt limiter
throttle_watt_limiter(min_throttle, max_throttle);
#endif
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle));