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AP_Motors: remove MOT_THR_FILT parameter and add interface to configure filter

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This commit is contained in:
Jonathan Challinger 2015-04-15 21:55:12 -07:00 committed by Randy Mackay
parent 518e798f53
commit e80776f1f5
2 changed files with 4 additions and 14 deletions
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15
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -93,14 +93,6 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("CURR_MAX", 12, AP_Motors, _batt_current_max, AP_MOTORS_CURR_MAX_DEFAULT),
// @Param: THR_FILT
// @DisplayName: Throttle output filter
// @Description: Frequency cutoff (in hz) of throttle output filter
// @Range: 2 5
// @Units: Hz
// @User: Advanced
AP_GROUPINFO("THR_FILT", 13, AP_Motors, _throttle_filt_hz, 0.0f),
AP_GROUPEND
};
@ -138,7 +130,8 @@ AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_t
_batt_voltage_filt.set_cutoff_frequency(1.0f/_loop_rate,AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f);
_throttle_filter.set_cutoff_frequency(1.0f/_loop_rate,_throttle_filt_hz);
// setup throttle filtering
_throttle_filter.set_cutoff_frequency(1.0f/_loop_rate,0.0f);
_throttle_filter.reset(0.0f);
};
@ -220,10 +213,6 @@ void AP_Motors::slow_start(bool true_false)
// update the throttle input filter
void AP_Motors::update_throttle_filter()
{
if (_throttle_filter.get_cutoff_frequency() != _throttle_filt_hz) {
_throttle_filter.set_cutoff_frequency(1.0f/_loop_rate,_throttle_filt_hz);
}
if (armed()) {
_throttle_filter.apply(_throttle_in);
} else {

3
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -130,6 +130,8 @@ public:
int16_t get_yaw() const { return _rc_yaw.servo_out; }
int16_t get_throttle_out() const { return _rc_throttle.servo_out; }
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(1.0f/_loop_rate,filt_hz); }
// output - sends commands to the motors
void output();
@ -250,7 +252,6 @@ protected:
AP_Float _batt_voltage_max; // maximum voltage used to scale lift
AP_Float _batt_voltage_min; // minimum voltage used to scale lift
AP_Float _batt_current_max; // current over which maximum throttle is limited
AP_Float _throttle_filt_hz; // throttle output filter time constant in hz
// internal variables
RC_Channel& _rc_roll; // roll input in from users is held in servo_out