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AP_Motors: update some comments

This commit is contained in:
Randy Mackay 2016-05-21 15:49:47 +09:00
parent f28666e7cd
commit f1cbdbe914
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -59,7 +59,7 @@ public:
bool is_throttle_mix_min() const { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
// also sets throttle channel minimum and maximum pwm
// also sets minimum and maximum pwm values that will be sent to the motors
void set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max);
// set_hover_throttle - sets the mid throttle which is close to the hover throttle of the copter
@ -174,8 +174,8 @@ protected:
float _throttle_rpy_mix; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000)
int16_t _throttle_radio_min; // minimum radio channel pwm
int16_t _throttle_radio_max; // maximum radio channel pwm
int16_t _throttle_radio_min; // minimum PWM from RC input's throttle channel (i.e. minimum PWM input from receiver, RC3_MIN)
int16_t _throttle_radio_max; // maximum PWM from RC input's throttle channel (i.e. maximum PWM input from receiver, RC3_MAX)
float _throttle_thrust_max; // the maximum allowed throttle thrust 0.0 to 1.0 in the range throttle_min to throttle_max
// spool variables