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AP_Motors: minor format fixes

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This commit is contained in:
Randy Mackay 2019-01-21 20:07:21 +09:00
parent 3d3f06cacb
commit e2bd502b83
2 changed files with 9 additions and 9 deletions
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8
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -193,7 +193,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @Increment: 0.001
// @User: Advanced
AP_GROUPINFO("SLEW_UP_TIME", 40, AP_MotorsMulticopter, _slew_up_time, AP_MOTORS_SLEW_TIME_DEFAULT),
// @Param: SLEW_DN_TIME
// @DisplayName: Output slew time for decreasing throttle
// @Description: Time in seconds to slew output from full to zero. For medium size copter such as a Solo, a value of 0.275 is a good starting point. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
@ -416,17 +416,17 @@ void AP_MotorsMulticopter::set_actuator_with_slew(float& actuator_output, float
MOT_SLEW_UP_TIME and MOT_SLEW_DN_TIME are constrained to 0.0~0.5 for sanity.
If spool mode is shutdown, no slew limit is applied to allow immediate disarming of motors.
*/
// Output limits with no slew time applied
float output_slew_limit_up = 1.0f;
float output_slew_limit_dn = 0.0f;
// If MOT_SLEW_UP_TIME is set, calculate the highest allowed new output value, constrained 0.0~1.0
if (is_positive(_slew_up_time)) {
float output_delta_up_max = 1.0f/(constrain_float(_slew_up_time,0.0f,0.5f) * _loop_rate);
output_slew_limit_up = constrain_float(actuator_output + output_delta_up_max, 0.0f, 1.0f);
}
// If MOT_SLEW_DN_TIME is set, calculate the lowest allowed new output value, constrained 0.0~1.0
if (is_positive(_slew_dn_time)) {
float output_delta_dn_max = 1.0f/(constrain_float(_slew_dn_time,0.0f,0.5f) * _loop_rate);

10
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -91,7 +91,7 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// run spool logic
@ -117,10 +117,10 @@ protected:
// convert actuator output (0~1) range to pwm range
int16_t output_to_pwm(float _actuator_output);
// converts desired thrust to linearized actuator output in a range of 0~1
float thrust_to_actuator(float thrust_in);
// adds slew rate limiting to actuator output if MOT_SLEW_TIME > 0 and not shutdown
void set_actuator_with_slew(float& actuator_output, float input);
@ -170,7 +170,7 @@ protected:
// scaling for booster motor throttle
AP_Float _boost_scale;
// motor output variables
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled
int16_t _throttle_radio_min; // minimum PWM from RC input's throttle channel (i.e. minimum PWM input from receiver, RC3_MIN)
@ -189,7 +189,7 @@ protected:
// vehicle supplied callback for thrust compensation. Used for tiltrotors and tiltwings
thrust_compensation_fn_t _thrust_compensation_callback;
// array of motor output values
float _actuator[AP_MOTORS_MAX_NUM_MOTORS];
};