Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: params always use set method

Browse Source
This commit is contained in:
Iampete1 2022-07-05 04:08:56 +01:00 committed by Peter Hall
parent 8352a7b2b3
commit c1a9f75034
10 changed files with 29 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -167,7 +167,7 @@ void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_t
_servo_test_cycle_counter = _servo_test; _servo_test_cycle_counter = _servo_test;
// ensure inputs are not passed through to servos on start-up // ensure inputs are not passed through to servos on start-up
_servo_mode = SERVO_CONTROL_MODE_AUTOMATED; _servo_mode.set(SERVO_CONTROL_MODE_AUTOMATED);
// initialise radio passthrough for collective to middle // initialise radio passthrough for collective to middle
_throttle_radio_passthrough = 0.5f; _throttle_radio_passthrough = 0.5f;
@ -536,7 +536,7 @@ void AP_MotorsHeli::update_throttle_filter()
// reset_flight_controls - resets all controls and scalars to flight status // reset_flight_controls - resets all controls and scalars to flight status
void AP_MotorsHeli::reset_flight_controls() void AP_MotorsHeli::reset_flight_controls()
{ {
_servo_mode = SERVO_CONTROL_MODE_AUTOMATED; _servo_mode.set(SERVO_CONTROL_MODE_AUTOMATED);
init_outputs(); init_outputs();
calculate_scalars(); calculate_scalars();
} }
@ -564,7 +564,7 @@ void AP_MotorsHeli::update_throttle_hover(float dt)
} }
// we have chosen to constrain the hover collective to be within the range reachable by the third order expo polynomial. // we have chosen to constrain the hover collective to be within the range reachable by the third order expo polynomial.
_collective_hover = constrain_float(_collective_hover + (dt / (dt + AP_MOTORS_HELI_COLLECTIVE_HOVER_TC)) * (curr_collective - _collective_hover), AP_MOTORS_HELI_COLLECTIVE_HOVER_MIN, AP_MOTORS_HELI_COLLECTIVE_HOVER_MAX); _collective_hover.set(constrain_float(_collective_hover + (dt / (dt + AP_MOTORS_HELI_COLLECTIVE_HOVER_TC)) * (curr_collective - _collective_hover), AP_MOTORS_HELI_COLLECTIVE_HOVER_MIN, AP_MOTORS_HELI_COLLECTIVE_HOVER_MAX));
} }
} }

12
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
View File

@ -353,20 +353,20 @@ void AP_MotorsHeli_Dual::calculate_scalars()
{ {
// range check collective min, max and mid // range check collective min, max and mid
if( _collective_min >= _collective_max ) { if( _collective_min >= _collective_max ) {
_collective_min = AP_MOTORS_HELI_COLLECTIVE_MIN; _collective_min.set(AP_MOTORS_HELI_COLLECTIVE_MIN);
_collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX; _collective_max.set(AP_MOTORS_HELI_COLLECTIVE_MAX);
} }
// range check collective min, max and mid for rear swashplate // range check collective min, max and mid for rear swashplate
if( _collective2_min >= _collective2_max ) { if( _collective2_min >= _collective2_max ) {
_collective2_min = AP_MOTORS_HELI_DUAL_COLLECTIVE2_MIN; _collective2_min.set(AP_MOTORS_HELI_DUAL_COLLECTIVE2_MIN);
_collective2_max = AP_MOTORS_HELI_DUAL_COLLECTIVE2_MAX; _collective2_max.set(AP_MOTORS_HELI_DUAL_COLLECTIVE2_MAX);
} }
_collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg); _collective_zero_thrust_deg.set(constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg));
_collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg); _collective_land_min_deg.set(constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg));
if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) { if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
// calculate collective zero thrust point as a number from 0 to 1 // calculate collective zero thrust point as a number from 0 to 1

8
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
View File

@ -132,13 +132,13 @@ void AP_MotorsHeli_Quad::calculate_scalars()
{ {
// range check collective min, max and mid // range check collective min, max and mid
if( _collective_min >= _collective_max ) { if( _collective_min >= _collective_max ) {
_collective_min = AP_MOTORS_HELI_COLLECTIVE_MIN; _collective_min.set(AP_MOTORS_HELI_COLLECTIVE_MIN);
_collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX; _collective_max.set(AP_MOTORS_HELI_COLLECTIVE_MAX);
} }
_collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg); _collective_zero_thrust_deg.set(constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg));
_collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg); _collective_land_min_deg.set(constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg));
if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) { if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
// calculate collective zero thrust point as a number from 0 to 1 // calculate collective zero thrust point as a number from 0 to 1

8
libraries/AP_Motors/AP_MotorsHeli_RSC.h
View File

@ -72,7 +72,7 @@ public:
uint8_t get_control_mode() const { return _control_mode; } uint8_t get_control_mode() const { return _control_mode; }
// set_critical_speed // set_critical_speed
void set_critical_speed(float critical_speed) { _critical_speed = critical_speed; } void set_critical_speed(float critical_speed) { _critical_speed.set(critical_speed); }
// get_desired_speed // get_desired_speed
float get_desired_speed() const { return _desired_speed; } float get_desired_speed() const { return _desired_speed; }
@ -88,13 +88,13 @@ public:
float get_governor_output() const { return _governor_output; } float get_governor_output() const { return _governor_output; }
void governor_reset(); void governor_reset();
float get_control_output() const { return _control_output; } float get_control_output() const { return _control_output; }
void set_idle_output(float idle_output) { _idle_output = idle_output; } void set_idle_output(float idle_output) { _idle_output.set(idle_output); }
void autothrottle_run(); void autothrottle_run();
void set_throttle_curve(); void set_throttle_curve();
// functions for ramp and runup timers, runup_complete flag // functions for ramp and runup timers, runup_complete flag
void set_ramp_time(int8_t ramp_time) { _ramp_time = ramp_time; } void set_ramp_time(int8_t ramp_time) { _ramp_time.set(ramp_time); }
void set_runup_time(int8_t runup_time) { _runup_time = runup_time; } void set_runup_time(int8_t runup_time) { _runup_time.set(runup_time); }
bool is_runup_complete() const { return _runup_complete; } bool is_runup_complete() const { return _runup_complete; }
// is_spooldown_complete // is_spooldown_complete

10
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -310,13 +310,13 @@ void AP_MotorsHeli_Single::calculate_scalars()
{ {
// range check collective min, max and zero // range check collective min, max and zero
if( _collective_min >= _collective_max ) { if( _collective_min >= _collective_max ) {
_collective_min = AP_MOTORS_HELI_COLLECTIVE_MIN; _collective_min.set(AP_MOTORS_HELI_COLLECTIVE_MIN);
_collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX; _collective_max.set(AP_MOTORS_HELI_COLLECTIVE_MAX);
} }
_collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg); _collective_zero_thrust_deg.set(constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg));
_collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg); _collective_land_min_deg.set(constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg));
if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) { if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
// calculate collective zero thrust point as a number from 0 to 1 // calculate collective zero thrust point as a number from 0 to 1
@ -467,7 +467,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
// also not required if we are using external gyro // also not required if we are using external gyro
if ((_main_rotor.get_control_output() > _main_rotor.get_idle_output()) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) { 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 // 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); _collective_yaw_effect.set(constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE));
// the 4.5 scaling factor is to bring the values in line with previous releases // the 4.5 scaling factor is to bring the values in line with previous releases
yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_zero_thrust_pct) / 4.5f; yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_zero_thrust_pct) / 4.5f;
} }

2
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -82,7 +82,7 @@ public:
uint32_t get_motor_mask() override; uint32_t get_motor_mask() override;
// ext_gyro_gain - set external gyro gain in range 0 ~ 1000 // ext_gyro_gain - set external gyro gain in range 0 ~ 1000
void ext_gyro_gain(float gain) override { if (gain >= 0 && gain <= 1000) { _ext_gyro_gain_std = gain; }} void ext_gyro_gain(float gain) override { if (gain >= 0 && gain <= 1000) { _ext_gyro_gain_std.set(gain); }}
// has_flybar - returns true if we have a mechical flybar // has_flybar - returns true if we have a mechical flybar
bool has_flybar() const override { return _flybar_mode; } bool has_flybar() const override { return _flybar_mode; }

4
libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
View File

@ -94,9 +94,9 @@ void AP_MotorsHeli_Swash::configure()
_collective_direction = static_cast<CollectiveDirection>(_swash_coll_dir.get()); _collective_direction = static_cast<CollectiveDirection>(_swash_coll_dir.get());
_make_servo_linear = _linear_swash_servo; _make_servo_linear = _linear_swash_servo;
if (_swash_type == SWASHPLATE_TYPE_H3) { if (_swash_type == SWASHPLATE_TYPE_H3) {
enable = 1; enable.set(1);
} else { } else {
enable = 0; enable.set(0);
} }
} }

4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -383,7 +383,7 @@ void AP_MotorsMulticopter::update_lift_max_from_batt_voltage()
return; return;
} }
_batt_voltage_min = MAX(_batt_voltage_min, _batt_voltage_max * 0.6f); _batt_voltage_min.set(MAX(_batt_voltage_min, _batt_voltage_max * 0.6f));
// contrain resting voltage estimate (resting voltage is actual voltage with sag removed based on current draw and resistance) // contrain resting voltage estimate (resting voltage is actual voltage with sag removed based on current draw and resistance)
_batt_voltage_resting_estimate = constrain_float(_batt_voltage_resting_estimate, _batt_voltage_min, _batt_voltage_max); _batt_voltage_resting_estimate = constrain_float(_batt_voltage_resting_estimate, _batt_voltage_min, _batt_voltage_max);
@ -529,7 +529,7 @@ void AP_MotorsMulticopter::update_throttle_hover(float dt)
{ {
if (_throttle_hover_learn != HOVER_LEARN_DISABLED) { if (_throttle_hover_learn != HOVER_LEARN_DISABLED) {
// we have chosen to constrain the hover throttle to be within the range reachable by the third order expo polynomial. // we have chosen to constrain the hover throttle to be within the range reachable by the third order expo polynomial.
_throttle_hover = constrain_float(_throttle_hover + (dt / (dt + AP_MOTORS_THST_HOVER_TC)) * (get_throttle() - _throttle_hover), AP_MOTORS_THST_HOVER_MIN, AP_MOTORS_THST_HOVER_MAX); _throttle_hover.set(constrain_float(_throttle_hover + (dt / (dt + AP_MOTORS_THST_HOVER_TC)) * (get_throttle() - _throttle_hover), AP_MOTORS_THST_HOVER_MIN, AP_MOTORS_THST_HOVER_MAX));
} }
} }

2
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -42,7 +42,7 @@ public:
void output_min() override; void output_min() override;
// set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm) // set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; } void set_yaw_headroom(int16_t pwm) { _yaw_headroom.set(pwm); }
// update_throttle_range - update throttle endpoints // update_throttle_range - update throttle endpoints
void update_throttle_range(); void update_throttle_range();

2
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -159,7 +159,7 @@ void AP_MotorsTri::output_armed_stabilizing()
SRV_Channels::set_angle(SRV_Channels::get_motor_function(AP_MOTORS_CH_TRI_YAW), _yaw_servo_angle_max_deg*100); SRV_Channels::set_angle(SRV_Channels::get_motor_function(AP_MOTORS_CH_TRI_YAW), _yaw_servo_angle_max_deg*100);
// sanity check YAW_SV_ANGLE parameter value to avoid divide by zero // sanity check YAW_SV_ANGLE parameter value to avoid divide by zero
_yaw_servo_angle_max_deg = constrain_float(_yaw_servo_angle_max_deg, AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN, AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX); _yaw_servo_angle_max_deg.set(constrain_float(_yaw_servo_angle_max_deg, AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN, AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX));
// apply voltage and air pressure compensation // apply voltage and air pressure compensation
const float compensation_gain = get_compensation_gain(); const float compensation_gain = get_compensation_gain();