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

AP_MotorsUGV: remove access to enable/disable throttle slewing

Browse Source
This commit is contained in:
Randy Mackay 2017-11-22 09:35:54 +09:00
parent 23028a659b
commit 6d805b64b6
2 changed files with 1 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/AP_MotorsUGV.cpp
View File

@ -353,7 +353,7 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
// slew limit throttle for one iteration
void AP_MotorsUGV::slew_limit_throttle(float dt)
{
if (_use_slew_rate && (_slew_rate > 0)) {
if (_slew_rate > 0) {
float temp = _slew_rate * dt * 0.01f * (_throttle_max - _throttle_min);
if (temp < 1.0f) {
temp = 1.0f;

4
APMrover2/AP_MotorsUGV.h
View File

@ -48,9 +48,6 @@ public:
// output to motors and steering servos
void output(bool armed, float dt);
// set when to use slew rate limiter
void slew_limit_throttle(bool value) { _use_slew_rate = value; }
// test steering or throttle output as a percentage of the total (range -100 to +100)
// used in response to DO_MOTOR_TEST mavlink command
bool output_test_pct(motor_test_order motor_seq, float pct);
@ -105,5 +102,4 @@ protected:
float _steering; // requested steering as a value from -4500 to +4500
float _throttle; // requested throttle as a value from -100 to 100
float _last_throttle;
bool _use_slew_rate; // true if we should slew limit the throttle for one interation
};