Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: avoid float exception for small expo 

very small values of the thrust expo cause a floating point
exception. As zero is a documented value meaning linear we need to
handle this.
This commit is contained in:
Andrew Tridgell 2017-10-25 14:01:26 +11:00
parent bc0827ffd7
commit e340fac2e0
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -298,6 +298,10 @@ float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) co
float throttle_ratio = thrust; float throttle_ratio = thrust;
// apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0 // apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
float thrust_curve_expo = constrain_float(_thrust_curve_expo, -1.0f, 1.0f); float thrust_curve_expo = constrain_float(_thrust_curve_expo, -1.0f, 1.0f);
if (fabsf(thrust_curve_expo) < 0.001) {
// zero expo means linear, avoid floating point exception for small values
return thrust;
}
if(!is_zero(_batt_voltage_filt.get())) { if(!is_zero(_batt_voltage_filt.get())) {
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*thrust))/(2.0f*thrust_curve_expo*_batt_voltage_filt.get()); 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*thrust))/(2.0f*thrust_curve_expo*_batt_voltage_filt.get());
} else { } else {