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AP_MotorsHeli_Single: replace collective_mid_pwm with collective_mid_pct

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This commit is contained in:
Randy Mackay 2016-02-06 10:39:47 +09:00
parent 9790245bf1
commit b5593431bf
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -236,8 +236,8 @@ void AP_MotorsHeli_Single::calculate_scalars()
}
_collective_mid = constrain_int16(_collective_mid, _collective_min, _collective_max);
// calculate collective mid point as a number from 0 to 1000
_collective_mid_pwm = ((float)(_collective_mid-_collective_min))/((float)(_collective_max-_collective_min))*1000.0f;
// calculate collective mid point as a number from 0 to 1
_collective_mid_pct = ((float)(_collective_mid-_collective_min))/((float)(_collective_max-_collective_min));
// calculate factors based on swash type and servo position
calculate_roll_pitch_collective_factors();
@ -385,7 +385,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
if ((_main_rotor.get_control_output() > _main_rotor.get_idle_output()) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// sanity check collective_yaw_effect
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE);
yaw_offset = _collective_yaw_effect * fabsf(collective_out - (_collective_mid_pwm/1000.0f));
yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_mid_pct);
}
} else {
yaw_offset = 0.0f;
@ -394,7 +394,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
// feed power estimate into main rotor controller
// ToDo: include tail rotor power?
// ToDo: add main rotor cyclic power?
_main_rotor.set_motor_load(fabsf(collective_out - (_collective_mid_pwm/1000.0f)));
_main_rotor.set_motor_load(fabsf(collective_out - _collective_mid_pct));
// swashplate servos
float collective_scalar = ((float)(_collective_max-_collective_min))/1000.0f;