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AP_Motors: add set_desired_spool_state

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Randy Mackay 2016-02-02 21:14:12 +09:00
parent 2716126e40
commit 56f05e6a96
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_Motors/AP_Motors_Class.h
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@ -73,6 +73,16 @@ public:
float get_yaw() const { return _yaw_in; }
float get_throttle() const { return constrain_float(_throttle_filter.get(),0.0f,1.0f); }
// spool up states
enum spool_up_down_desired {
DESIRED_SHUT_DOWN = 0, // all motors stop
DESIRED_SPIN_WHEN_ARMED = 1, // all motors at spin when armed
DESIRED_SPIN_MIN_THROTTLE = 2, // all motors at min throttle
DESIRED_THROTTLE_UNLIMITED = 3, // motors are no longer constrained by start up procedure
};
virtual void set_desired_spool_state(enum spool_up_down_desired spool) { _spool_desired = spool; };
//
// voltage, current and air pressure compensation or limiting features - multicopters only
//
@ -149,6 +159,7 @@ protected:
float _yaw_in; // desired yaw control from attitude controller, -1 ~ +1
float _throttle_in; // last throttle input from set_throttle caller
LowPassFilterFloat _throttle_filter; // throttle input filter
spool_up_down_desired _spool_desired; // desired spool state
// battery voltage, current and air pressure compensation variables
float _batt_voltage; // latest battery voltage reading