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Motors: add get_voltage_comp_gain

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This clarifies that lift_max is the inverse of the battery voltage gain
compensation
This commit is contained in:
Leonard Hall 2015-02-23 21:48:54 +09:00 committed by Randy Mackay
parent 997c6f0868
commit 3e960dfc3b
2 changed files with 9 additions and 6 deletions
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12
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -191,8 +191,8 @@ void AP_MotorsMatrix::output_armed()
// set rpy_low and rpy_high to the lowest and highest values of the motors // set rpy_low and rpy_high to the lowest and highest values of the motors
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) { for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) { if (motor_enabled[i]) {
rpy_out[i] = _rc_roll.pwm_out * _roll_factor[i]/_lift_max + rpy_out[i] = _rc_roll.pwm_out * _roll_factor[i] * get_voltage_comp_gain() +
_rc_pitch.pwm_out * _pitch_factor[i]/_lift_max; _rc_pitch.pwm_out * _pitch_factor[i] * get_voltage_comp_gain();
// record lowest roll pitch command // record lowest roll pitch command
if (rpy_out[i] < rpy_low) { if (rpy_out[i] < rpy_low) {
@ -224,16 +224,16 @@ void AP_MotorsMatrix::output_armed()
if (_rc_yaw.pwm_out >= 0) { if (_rc_yaw.pwm_out >= 0) {
// if yawing right // if yawing right
if (yaw_allowed > _rc_yaw.pwm_out/_lift_max) { if (yaw_allowed > _rc_yaw.pwm_out * get_voltage_comp_gain()) {
yaw_allowed = _rc_yaw.pwm_out/_lift_max; // to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output yaw_allowed = _rc_yaw.pwm_out * get_voltage_comp_gain(); // to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output
}else{ }else{
limit.yaw = true; limit.yaw = true;
} }
}else{ }else{
// if yawing left // if yawing left
yaw_allowed = -yaw_allowed; yaw_allowed = -yaw_allowed;
if( yaw_allowed < _rc_yaw.pwm_out/_lift_max ) { if (yaw_allowed < _rc_yaw.pwm_out * get_voltage_comp_gain()) {
yaw_allowed = _rc_yaw.pwm_out/_lift_max; // to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output yaw_allowed = _rc_yaw.pwm_out * get_voltage_comp_gain(); // to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output
}else{ }else{
limit.yaw = true; limit.yaw = true;
} }

3
libraries/AP_Motors/AP_Motors_Class.h
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@ -193,6 +193,9 @@ protected:
// update_battery_resistance - calculate battery resistance when throttle is above hover_out // update_battery_resistance - calculate battery resistance when throttle is above hover_out
void update_battery_resistance(); void update_battery_resistance();
// get_voltage_comp_gain - return battery voltage compensation gain
float get_voltage_comp_gain() const { return 1.0f/_lift_max; }
// flag bitmask // flag bitmask
struct AP_Motors_flags { struct AP_Motors_flags {
uint8_t armed : 1; // 1 if the motors are armed, 0 if disarmed uint8_t armed : 1; // 1 if the motors are armed, 0 if disarmed