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AP_MotorsMulticopter: remove apply_thrust_curve_and_volt_scaling_pwm

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This commit is contained in:
Leonard Hall 2016-01-20 16:31:23 +09:00 committed by Randy Mackay
parent 06f25b669d
commit d7dc37bda0
2 changed files with 1 additions and 20 deletions
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18
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -227,24 +227,6 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
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
{
// convert to 0.0 to 1.0 ratio
float throttle_ratio = ((float)(pwm_out-pwm_min))/((float)(pwm_max-pwm_min));
// apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
if (_thrust_curve_expo > 0.0f){
throttle_ratio = ((_thrust_curve_expo-1.0f) + safe_sqrt((1.0f-_thrust_curve_expo)*(1.0f-_thrust_curve_expo) + 4.0f*_thrust_curve_expo*_lift_max*throttle_ratio))/(2.0f*_thrust_curve_expo*_batt_voltage_filt.get());
}
// scale to maximum thrust point
throttle_ratio *= _thrust_curve_max;
// convert back to pwm range, constrain and return
return (int16_t)constrain_float(throttle_ratio*(pwm_max-pwm_min)+pwm_min, pwm_min, (pwm_max-pwm_min)*_thrust_curve_max+pwm_min);
}
// apply_thrust_curve_and_volt_scaling - returns throttle in the range 0 ~ 1
float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) const
{

3
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -136,8 +136,7 @@ protected:
// 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;
// apply_thrust_curve_and_volt_scaling - returns throttle in the range 0 ~ 1
float apply_thrust_curve_and_volt_scaling(float thrust) const;
// update_lift_max_from_batt_voltage - used for voltage compensation