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AP_MotorsMulticopter: remove update_max_throttle

This commit is contained in:
Leonard Hall 2016-01-19 14:46:15 +09:00 committed by Randy Mackay
parent be64c71065
commit b7fe6aa16e
2 changed files with 0 additions and 35 deletions
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32
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -137,9 +137,6 @@ void AP_MotorsMulticopter::output()
// update throttle filter
update_throttle_filter();
// update max throttle
update_max_throttle();
// update battery resistance
update_battery_resistance();
@ -176,35 +173,6 @@ void AP_MotorsMulticopter::update_throttle_filter()
_throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
}
// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag
void AP_MotorsMulticopter::update_max_throttle()
{
// ramp up minimum spin speed if necessary
if (_multicopter_flags.slow_start_low_end) {
_spin_when_armed_ramped += AP_MOTOR_SLOW_START_LOW_END_INCREMENT;
if (_spin_when_armed_ramped >= _spin_when_armed) {
_spin_when_armed_ramped = _spin_when_armed;
_multicopter_flags.slow_start_low_end = false;
}
}
// implement slow start
if (_multicopter_flags.slow_start) {
// increase slow start throttle
_max_throttle += AP_MOTOR_SLOW_START_INCREMENT;
// turn off slow start if we've reached max throttle
if (_max_throttle >= _throttle_control_input) {
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
_multicopter_flags.slow_start = false;
}
return;
}
// current limit throttle
current_limit_max_throttle();
}
// current_limit_max_throttle - limits maximum throttle based on current
void AP_MotorsMulticopter::current_limit_max_throttle()
{

3
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -101,9 +101,6 @@ protected:
// update the throttle input filter
virtual void update_throttle_filter();
// update_max_throttle - updates the limits on _max_throttle for slow_start and current limiting flag
void update_max_throttle();
// current_limit_max_throttle - current limit maximum throttle (called from update_max_throttle)
void current_limit_max_throttle();