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Copter: get_non_takeoff_throttle uses floats

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Jonathan Challinger 2015-04-30 15:10:38 +09:00 committed by Randy Mackay
parent 348001e786
commit e286323abc
1 changed files with 11 additions and 12 deletions
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23
ArduCopter/Attitude.pde
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@ -146,21 +146,20 @@ static int16_t get_pilot_desired_throttle(int16_t throttle_control)
// get_pilot_desired_climb_rate - transform pilot's throttle input to
// climb rate in cm/s. we use radio_in instead of control_in to get the full range
// without any deadzone at the bottom
static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
static float get_pilot_desired_climb_rate(float throttle_control)
{
int16_t desired_rate = 0;
// throttle failsafe check
if( failsafe.radio ) {
return 0;
return 0.0f;
}
int16_t mid_stick = g.rc_3.get_control_mid();
int16_t deadband_top = mid_stick + g.throttle_deadzone;
int16_t deadband_bottom = mid_stick - g.throttle_deadzone;
float desired_rate = 0.0f;
float mid_stick = g.rc_3.get_control_mid();
float deadband_top = mid_stick + g.throttle_deadzone;
float deadband_bottom = mid_stick - g.throttle_deadzone;
// ensure a reasonable throttle value
throttle_control = constrain_int16(throttle_control,g.throttle_min,1000);
throttle_control = constrain_float(throttle_control,g.throttle_min,1000.0f);
// ensure a reasonable deadzone
g.throttle_deadzone = constrain_int16(g.throttle_deadzone, 0, 400);
@ -168,13 +167,13 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
// check throttle is above, below or in the deadband
if (throttle_control < deadband_bottom) {
// below the deadband
desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-deadband_bottom) / (deadband_bottom-g.throttle_min);
desired_rate = g.pilot_velocity_z_max * (throttle_control-deadband_bottom) / (deadband_bottom-g.throttle_min);
}else if (throttle_control > deadband_top) {
// above the deadband
desired_rate = (int32_t)g.pilot_velocity_z_max * (throttle_control-deadband_top) / (1000-deadband_top);
desired_rate = g.pilot_velocity_z_max * (throttle_control-deadband_top) / (1000.0f-deadband_top);
}else{
// must be in the deadband
desired_rate = 0;
desired_rate = 0.0f;
}
// desired climb rate for logging
@ -184,7 +183,7 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
}
// get_non_takeoff_throttle - a throttle somewhere between min and mid throttle which should not lead to a takeoff
static int16_t get_non_takeoff_throttle()
static float get_non_takeoff_throttle()
{
return (g.throttle_mid / 2.0f);
}