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AP_MotorsMulticopter: add get_current_limit_max_throttle

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returns the current limited maximum throttle as a number between 0 ~ 1 in the range throttle_min to throttle_max
This commit is contained in:
Leonard Hall 2015-12-19 12:40:10 +09:00 committed by Randy Mackay
parent 64ba45a683
commit be64c71065
2 changed files with 35 additions and 1 deletions
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32
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -216,7 +216,7 @@ void AP_MotorsMulticopter::current_limit_max_throttle()
}
// remove throttle limit if throttle is at zero or disarmed
if(_throttle_control_input <= 0 || !_flags.armed) {
if(_throttle_in <= 0.0f || !_flags.armed) {
_throttle_limit = 1.0f;
}
@ -239,6 +239,36 @@ void AP_MotorsMulticopter::current_limit_max_throttle()
_max_throttle = _hover_out + ((1000-_hover_out)*_throttle_limit);
}
// return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
//todo: replace this with a variable P term
float AP_MotorsMulticopter::get_current_limit_max_throttle()
{
// return maximum if current limiting is disabled
if (_batt_current_max <= 0) {
_throttle_limit = 1.0f;
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
return 1.0f;
}
// remove throttle limit if throttle is at zero or disarmed
if(_throttle_in <= 0.0f || !_flags.armed) {
_throttle_limit = 1.0f;
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
return 1.0f;
}
float batt_current_ratio = _batt_current/_batt_current_max;
_throttle_limit += AP_MOTORS_CURRENT_LIMIT_P*(1.0f - batt_current_ratio)/_loop_rate;
// throttle limit drops to 20% between hover and full throttle
_throttle_limit = constrain_float(_throttle_limit, 0.2f, 1.0f);
// limit max throttle
float throttle_thrust_hover = get_hover_throttle_as_high_end_pct();
return throttle_thrust_hover + ((1.0-throttle_thrust_hover)*_throttle_limit);
}
// apply_thrust_curve_and_volt_scaling - returns throttle curve adjusted pwm value (i.e. 1000 ~ 2000)
int16_t AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling_pwm(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const
{

4
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -22,6 +22,7 @@
#define AP_MOTORS_THST_BAT_MAX_DEFAULT 0.0f
#define AP_MOTORS_THST_BAT_MIN_DEFAULT 0.0f
#define AP_MOTORS_CURR_MAX_DEFAULT 0.0f // current limiting max default
#define AP_MOTORS_CURRENT_LIMIT_P 0.2f // replace with parameter - Sets the current limit P term
#define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz
#define AP_MOTORS_THR_MIX_MIN_DEFAULT 0.1f // minimum throttle mix
#define AP_MOTORS_THR_MIX_MID_DEFAULT 0.5f // manual throttle mix
@ -106,6 +107,9 @@ protected:
// current_limit_max_throttle - current limit maximum throttle (called from update_max_throttle)
void current_limit_max_throttle();
// return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
float get_current_limit_max_throttle();
// apply_thrust_curve_and_volt_scaling - thrust curve and voltage adjusted pwm value (i.e. 1000 ~ 2000)
int16_t apply_thrust_curve_and_volt_scaling_pwm(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const;
float apply_thrust_curve_and_volt_scaling(float thrust) const;