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AP_Motors: add PWM min and max param conversion function

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Iampete1 2021-09-04 18:51:27 +01:00 committed by Randy Mackay
parent 12c1b3e8f5
commit d16be50e57
2 changed files with 13 additions and 0 deletions
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10
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -774,3 +774,13 @@ void AP_MotorsMulticopter::save_params_on_disarm()
_throttle_hover.save(); _throttle_hover.save();
} }
} }
// convert to PWM min and max in the motor lib
void AP_MotorsMulticopter::convert_pwm_min_max_param(int16_t radio_min, int16_t radio_max)
{
if (_pwm_min.configured_in_storage() || _pwm_max.configured_in_storage()) {
return;
}
_pwm_min.set_and_save(radio_min);
_pwm_max.set_and_save(radio_max);
}

3
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -105,6 +105,9 @@ public:
// return whether a motor is enabled or not // return whether a motor is enabled or not
bool is_motor_enabled(uint8_t i) override { return motor_enabled[i]; } bool is_motor_enabled(uint8_t i) override { return motor_enabled[i]; }
// convert values to PWM min and max if not configured
void convert_pwm_min_max_param(int16_t radio_min, int16_t radio_max);
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];