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MotorsMulticopter: move get_hover_throttle_as_pwm to protected

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No functional change
This commit is contained in:
Randy Mackay 2015-07-21 16:23:46 +09:00
parent c7c6228b5d
commit e31f2d26c4
2 changed files with 9 additions and 9 deletions
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12
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -120,12 +120,6 @@ AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz
_batt_voltage_filt.reset(1.0f);
};
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)
int16_t AP_MotorsMulticopter::get_hover_throttle_as_pwm() const
{
return (_throttle_radio_min + (float)(_throttle_radio_max - _throttle_radio_min) * _hover_out / 1000.0f);
}
// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
@ -313,6 +307,12 @@ void AP_MotorsMulticopter::update_throttle_thr_mix()
_throttle_thr_mix = constrain_float(_throttle_thr_mix, 0.1f, 1.0f);
}
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)
int16_t AP_MotorsMulticopter::get_hover_throttle_as_pwm() const
{
return (_throttle_radio_min + (float)(_throttle_radio_max - _throttle_radio_min) * _hover_out / 1000.0f);
}
float AP_MotorsMulticopter::get_compensation_gain() const
{
// avoid divide by zero

6
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -46,9 +46,6 @@ public:
// output - sends commands to the motors
virtual void output();
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)
int16_t get_hover_throttle_as_pwm() const;
// set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; }
@ -124,6 +121,9 @@ protected:
// return gain scheduling gain based on voltage and air density
float get_compensation_gain() const;
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)
int16_t get_hover_throttle_as_pwm() const;
float rel_pwm_to_thr_range(float pwm) const;
float thr_range_to_rel_pwm(float thr) const;