aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_MotorsMulticopter: remove unused functions and variables

Browse Source
This commit is contained in:
Leonard Hall 2016-01-25 12:16:04 +09:00 committed by Randy Mackay
parent 290e657f61
commit 2c9a02066d
2 changed files with 1 additions and 47 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -104,11 +104,9 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// Constructor
AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz) :
AP_Motors(loop_rate, speed_hz),
_spin_when_armed_ramped(0),
_throttle_rpy_mix_desired(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_throttle_rpy_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),
_hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE),
_batt_voltage_resting(0.0f),
_batt_current_resting(0.0f),
@ -290,16 +288,6 @@ float AP_MotorsMulticopter::get_compensation_gain() const
return ret;
}
float AP_MotorsMulticopter::rel_pwm_to_thr_range(float pwm) const
{
return pwm/_throttle_pwm_scalar;
}
float AP_MotorsMulticopter::thr_range_to_rel_pwm(float thr) const
{
return _throttle_pwm_scalar*thr;
}
int16_t AP_MotorsMulticopter::calc_thrust_to_pwm(float thrust_in) const
{
return constrain_int16((_throttle_radio_min + _min_throttle + apply_thrust_curve_and_volt_scaling(thrust_in) *
@ -312,9 +300,7 @@ void AP_MotorsMulticopter::set_throttle_range(uint16_t min_throttle, int16_t rad
{
_throttle_radio_min = radio_min;
_throttle_radio_max = radio_max;
_throttle_pwm_scalar = (_throttle_radio_max - _throttle_radio_min) / 1000.0f;
_min_throttle = (float)min_throttle * _throttle_pwm_scalar;
_rpy_pwm_scalar = (_throttle_radio_max - (_throttle_radio_min + _min_throttle)) / 9000.0f;
_min_throttle = (float)min_throttle * ((_throttle_radio_max - _throttle_radio_min) / 1000.0f);
}
void AP_MotorsMulticopter::output_logic()
@ -480,9 +466,6 @@ void AP_MotorsMulticopter::slow_start(bool true_false)
{
// set slow_start flag
_multicopter_flags.slow_start = true;
// initialise maximum throttle to current throttle
_max_throttle = constrain_int16(_throttle_control_input, 0, AP_MOTORS_DEFAULT_MAX_THROTTLE);
}
// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs

29
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -12,7 +12,6 @@
#define AP_MOTORS_DEFAULT_MIN_THROTTLE 130
#define AP_MOTORS_DEFAULT_MID_THROTTLE 500
#define AP_MOTORS_DEFAULT_MAX_THROTTLE 1000
#define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed
#define AP_MOTORS_YAW_HEADROOM_DEFAULT 200
@ -28,17 +27,6 @@
#define AP_MOTORS_THR_MIX_MID_DEFAULT 0.5f // manual throttle mix
#define AP_MOTORS_THR_MIX_MAX_DEFAULT 0.5f // maximum throttle mix default
// To-Do: replace this hard coded counter with a timer
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 1 second)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
#else
// slow start increments - throttle increase per (400hz) iteration. i.e. 1 = full speed in 2.5 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 3 // max throttle ramp speed (i.e. motors can reach full throttle in 0.8 seconds)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 1 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 0.3 second)
#endif
// spool definition
#define AP_MOTORS_SPOOL_UP_TIME 0.5f // time (in seconds) for throttle to increase from zero to min throttle, and min throttle to full throttle.
@ -68,9 +56,6 @@ public:
// get_throttle_rpy_mix - get low throttle compensation value
bool is_throttle_mix_min() const { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
int16_t throttle_max() const { return _max_throttle; }
int16_t throttle_min() const { return rel_pwm_to_thr_range(_min_throttle); }
// 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
void set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max);
@ -154,18 +139,6 @@ protected:
// get_hover_throttle_as_high_end_pct - return hover throttle in the 0 to 1 range
float get_hover_throttle_as_high_end_pct() const;
float rel_pwm_to_thr_range(float pwm) const;
float thr_range_to_rel_pwm(float thr) const;
// convert RPY and Throttle servo ranges from legacy controller scheme back into PWM values
// RPY channels typically +/-45 degrees servo travel between +/-400 PWM
// Throttle channel typically 0-1000 range converts to 1100-1900 PWM for final output signal to motors
// ToDo: this should all be handled as floats +/- 1.0 instead of PWM and fake angle ranges
float calc_roll_pwm() { return (_roll_control_input * _rpy_pwm_scalar); }
float calc_pitch_pwm() { return (_pitch_control_input * _rpy_pwm_scalar); }
float calc_yaw_pwm() { return (_yaw_control_input * _rpy_pwm_scalar); }
int16_t calc_throttle_radio_output() { return (_throttle_control_input * _throttle_pwm_scalar) + _throttle_radio_min;}
// convert thrust (0~1) range back to pwm range
int16_t calc_thrust_to_pwm(float thrust_in) const;
@ -197,11 +170,9 @@ protected:
// internal variables
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled
int16_t _spin_when_armed_ramped; // equal to _spin_when_armed parameter but slowly ramped up from zero
float _throttle_rpy_mix_desired; // desired throttle_low_comp value, actual throttle_low_comp is slewed towards this value over 1~2 seconds
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 _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)
int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000)
float _throttle_thrust_max; // the maximum allowed throttle thrust 0.0 to 1.0 in the range throttle_min to throttle_max