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AP_Motors: replace throttle_control_input with throttle_in

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throttle_control_input was 0 to 1000 range, throttle_in is 0 to 1
This commit is contained in:
Leonard Hall 2016-01-06 18:04:32 +09:00 committed by Randy Mackay
parent c96b91efb6
commit ed51c7a28d
2 changed files with 1 additions and 3 deletions
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1
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -28,7 +28,6 @@ extern const AP_HAL::HAL& hal;
AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
_roll_control_input(0.0f),
_pitch_control_input(0.0f),
_throttle_control_input(0.0f),
_yaw_control_input(0.0f),
_throttle_pwm_scalar(1.0f),
_rpy_pwm_scalar(0.074f),

3
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -69,7 +69,7 @@ public:
float get_roll() const { return _roll_control_input; }
float get_pitch() const { return _pitch_control_input; }
float get_yaw() const { return _yaw_control_input; }
float get_throttle() const { return _throttle_control_input; }
float get_throttle() const { return constrain_float(_throttle_filter.get(),0.0f,1.0f); }
// accessors for roll, pitch, yaw to motors within the range -1 ~ +1
float get_roll_thrust() const { return _roll_control_input / 4500.0f; }
@ -153,7 +153,6 @@ protected:
// internal variables
float _roll_control_input; // desired roll control from attitude controllers, +/- 4500
float _pitch_control_input; // desired pitch control from attitude controller, +/- 4500
float _throttle_control_input; // desired throttle (thrust) control from attitude controller, 0-1000
float _yaw_control_input; // desired yaw control from attitude controller, +/- 4500
float _throttle_pwm_scalar; // scalar used to convert throttle channel pwm range into 0-1000 range, ~0.8 - 1.0
float _rpy_pwm_scalar; // scaler used to convert roll, pitch, yaw inputs to pwm range