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AP_MotorsTri: fixes to output_armed_stabilizing

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Also minor comment fixes
This commit is contained in:
Leonard Hall 2016-02-03 13:49:06 +09:00 committed by Randy Mackay
parent 250a444e57
commit 267513d864
1 changed files with 1 additions and 6 deletions
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7
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -170,7 +170,6 @@ uint16_t AP_MotorsTri::get_motor_mask()
// output_armed - sends commands to the motors
// includes new scaling stability patch
// TODO pull code that is common to output_armed_not_stabilizing into helper functions
void AP_MotorsTri::output_armed_stabilizing()
{
float roll_thrust; // roll thrust input value, +/- 1.0
@ -199,7 +198,6 @@ void AP_MotorsTri::output_armed_stabilizing()
throttle_thrust = 0.0f;
limit.throttle_lower = true;
}
// convert throttle_max from 0~1000 to 0~1 range
if (throttle_thrust >= _throttle_thrust_max) {
throttle_thrust = _throttle_thrust_max;
limit.throttle_upper = true;
@ -254,9 +252,7 @@ void AP_MotorsTri::output_armed_stabilizing()
if(rpy_scale < 1.0f){
// Full range is being used by roll, pitch, and yaw.
limit.roll_pitch = true;
if(thr_adj < 0.0f){
limit.throttle_lower = true;
}else if(thr_adj > 0.0f){
if (thr_adj > 0.0f){
limit.throttle_upper = true;
}
thr_adj = 0.0f;
@ -264,7 +260,6 @@ void AP_MotorsTri::output_armed_stabilizing()
if(thr_adj < -(throttle_thrust_best_rpy+rpy_low)){
// Throttle can't be reduced to desired value
thr_adj = -(throttle_thrust_best_rpy+rpy_low);
limit.throttle_lower = true;
}else if(thr_adj > thrust_max - (throttle_thrust_best_rpy+rpy_high)){
// Throttle can't be increased to desired value
thr_adj = thrust_max - (throttle_thrust_best_rpy+rpy_high);