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QuadPlane: remove THR_MIN

This commit is contained in:
Randy Mackay 2016-06-09 22:19:18 +09:00
parent 9864750336
commit f2b0f09d6f
2 changed files with 1 additions and 11 deletions
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11
ArduPlane/quadplane.cpp
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@ -304,15 +304,6 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @User: Standard
AP_GROUPINFO("GUIDED_MODE", 40, QuadPlane, guided_mode, 0),
// @Param: THR_MIN
// @DisplayName: Throttle Minimum
// @Description: The minimum throttle that will be sent to the motors to keep them spinning
// @Units: Percent*10
// @Range: 0 300
// @Increment: 1
// @User: Standard
AP_GROUPINFO("THR_MIN", 41, QuadPlane, throttle_min, 100),
// @Param: ESC_CAL
// @DisplayName: ESC Calibration
// @Description: This is used to calibrate the throttle range of the VTOL motors. Please read http://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.
@ -442,8 +433,8 @@ bool QuadPlane::setup(void)
motors->set_frame_orientation(frame_type);
motors->Init();
motors->set_throttle_range(throttle_min, thr_min_pwm, thr_max_pwm);
motors->set_hover_throttle(throttle_mid);
motors->set_throttle_range(thr_min_pwm, thr_max_pwm);
motors->set_update_rate(rc_speed);
motors->set_interlock(true);
pid_accel_z.set_dt(loop_delta_t);

1
ArduPlane/quadplane.h
View File

@ -194,7 +194,6 @@ private:
AP_Int16 thr_min_pwm;
AP_Int16 thr_max_pwm;
AP_Int16 throttle_mid;
AP_Int16 throttle_min;
// speed below which quad assistance is given
AP_Float assist_speed;