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Motors: fix thrust curve and add constraint

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Leonard Hall 2015-03-02 20:39:56 +09:00 committed by Randy Mackay
parent 3e960dfc3b
commit cf8c211c35
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -268,7 +268,8 @@ int16_t AP_Motors::apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t
if (_thrust_curve_expo > 0.0f){
temp_out = ((_thrust_curve_expo-1.0f) + safe_sqrt((1.0f-_thrust_curve_expo)*(1.0f-_thrust_curve_expo) + 4.0f*_thrust_curve_expo*_lift_max*temp_out))/(2.0f*_thrust_curve_expo*_batt_voltage_filt.get());
}
return (temp_out*(_thrust_curve_max*pwm_max-pwm_min)+pwm_min);
temp_out = constrain_float(temp_out*_thrust_curve_max*(pwm_max-pwm_min)+pwm_min, pwm_min, pwm_max);
return (int16_t)temp_out;
}
// update_lift_max from battery voltage - used for voltage compensation