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AP_MotorsMulticopter: rename _throttle_thr_mix_desired to _throttle_rpy_mix_desired

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No functional change
Also rename _throttle_thr_mix to _throttle_rpy_mix
This commit is contained in:
Leonard Hall 2016-01-18 13:13:44 +09:00 committed by Randy Mackay
parent 65bbc23a08
commit 3854f2eda7
2 changed files with 21 additions and 21 deletions
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22
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -105,8 +105,8 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz) :
AP_Motors(loop_rate, speed_hz),
_spin_when_armed_ramped(0),
_throttle_thr_mix_desired(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_throttle_thr_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_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),
@ -147,7 +147,7 @@ void AP_MotorsMulticopter::output()
update_lift_max_from_batt_voltage();
// move throttle_low_comp towards desired throttle low comp
update_throttle_thr_mix();
update_throttle_rpy_mix();
if (_flags.armed) {
if (!_flags.interlock) {
@ -319,18 +319,18 @@ void AP_MotorsMulticopter::update_battery_resistance()
}
}
// update_throttle_thr_mix - slew set_throttle_thr_mix to requested value
void AP_MotorsMulticopter::update_throttle_thr_mix()
// update_throttle_rpy_mix - slew set_throttle_rpy_mix to requested value
void AP_MotorsMulticopter::update_throttle_rpy_mix()
{
// slew _throttle_thr_mix to _throttle_thr_mix_desired
if (_throttle_thr_mix < _throttle_thr_mix_desired) {
// slew _throttle_rpy_mix to _throttle_rpy_mix_desired
if (_throttle_rpy_mix < _throttle_rpy_mix_desired) {
// increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds)
_throttle_thr_mix += MIN(2.0f/_loop_rate, _throttle_thr_mix_desired-_throttle_thr_mix);
} else if (_throttle_thr_mix > _throttle_thr_mix_desired) {
_throttle_rpy_mix += MIN(2.0f/_loop_rate, _throttle_rpy_mix_desired-_throttle_rpy_mix);
} else if (_throttle_rpy_mix > _throttle_rpy_mix_desired) {
// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds)
_throttle_thr_mix -= MIN(0.5f/_loop_rate, _throttle_thr_mix-_throttle_thr_mix_desired);
_throttle_rpy_mix -= MIN(0.5f/_loop_rate, _throttle_rpy_mix-_throttle_rpy_mix_desired);
}
_throttle_thr_mix = constrain_float(_throttle_thr_mix, 0.1f, 1.0f);
_throttle_rpy_mix = constrain_float(_throttle_rpy_mix, 0.1f, 1.0f);
}
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)

20
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -51,15 +51,15 @@ public:
// set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; }
// set_throttle_thr_mix - set desired throttle_thr_mix (actual throttle_thr_mix is slewed towards this value over 1~2 seconds)
// set_throttle_rpy_mix - set desired throttle_thr_mix (actual throttle_thr_mix is slewed towards this value over 1~2 seconds)
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
void set_throttle_mix_min() { _throttle_thr_mix_desired = _thr_mix_min; }
void set_throttle_mix_mid() { _throttle_thr_mix_desired = AP_MOTORS_THR_MIX_MID_DEFAULT; }
void set_throttle_mix_max() { _throttle_thr_mix_desired = _thr_mix_max; }
void set_throttle_mix_min() { _throttle_rpy_mix_desired = _thr_mix_min; }
void set_throttle_mix_mid() { _throttle_rpy_mix_desired = AP_MOTORS_THR_MIX_MID_DEFAULT; }
void set_throttle_mix_max() { _throttle_rpy_mix_desired = _thr_mix_max; }
// get_throttle_thr_mix - get low throttle compensation value
bool is_throttle_mix_min() const { return (_throttle_thr_mix < 1.25f*_thr_mix_min); }
// get_throttle_rpy_mix - get low throttle compensation value
bool is_throttle_mix_min() const { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); }
// returns warning throttle
float get_throttle_warn() const { return rel_pwm_to_thr_range(_spin_when_armed); }
@ -119,8 +119,8 @@ protected:
// update_battery_resistance - calculate battery resistance when throttle is above hover_out
void update_battery_resistance();
// update_throttle_thr_mix - updates thr_low_comp value towards the target
void update_throttle_thr_mix();
// update_throttle_rpy_mix - updates thr_low_comp value towards the target
void update_throttle_rpy_mix();
// return gain scheduling gain based on voltage and air density
float get_compensation_gain() const;
@ -164,8 +164,8 @@ 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_thr_mix_desired; // desired throttle_low_comp value, actual throttle_low_comp is slewed towards this value over 1~2 seconds
float _throttle_thr_mix; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1
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)