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AP_MotorsMuticopter: calc_thrust_to_pwm converts thrust in 0 to 1 range to pwm 

pwm output is always between throttle min and throttle max
This commit is contained in:
Leonard Hall 2015-12-03 15:47:51 +09:00 committed by Randy Mackay
parent 80ddce103f
commit cb39f8aab7
2 changed files with 9 additions and 0 deletions
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6
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -352,6 +352,12 @@ float AP_MotorsMulticopter::thr_range_to_rel_pwm(float thr) const
return _throttle_pwm_scalar*thr; return _throttle_pwm_scalar*thr;
} }
int16_t AP_MotorsMulticopter::calc_thrust_to_pwm(float thrust_in) const
{
return constrain_int16((_throttle_radio_min + _min_throttle + apply_thrust_curve_and_volt_scaling(thrust_in) *
( _throttle_radio_max - (_throttle_radio_min + _min_throttle))), _throttle_radio_min + _min_throttle, _throttle_radio_max);
}
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle) // set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
// also sets throttle channel minimum and maximum pwm // also sets throttle channel minimum and maximum pwm
void AP_MotorsMulticopter::set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max) void AP_MotorsMulticopter::set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max)

3
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -139,6 +139,9 @@ protected:
float calc_yaw_pwm() { return (_yaw_control_input * _rpy_pwm_scalar); } float calc_yaw_pwm() { return (_yaw_control_input * _rpy_pwm_scalar); }
int16_t calc_throttle_radio_output() { return (_throttle_control_input * _throttle_pwm_scalar) + _throttle_radio_min;} int16_t calc_throttle_radio_output() { return (_throttle_control_input * _throttle_pwm_scalar) + _throttle_radio_min;}
// convert thrust (0~1) range back to pwm range
int16_t calc_thrust_to_pwm(float thrust_in) const;
// flag bitmask // flag bitmask
struct { struct {
uint8_t slow_start : 1; // 1 if slow start is active uint8_t slow_start : 1; // 1 if slow start is active