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AP_Motors_Class: time constants of throttle comp

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Leonard Hall 2015-04-14 22:25:15 +09:30 committed by Randy Mackay
parent 78a3ce46b9
commit 791fbcf9b3
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -247,8 +247,8 @@ void AP_Motors::current_limit_max_throttle()
// Fast drop for extreme over current (1 second)
_throttle_limit -= 1.0f/_loop_rate;
} else if(_batt_current > _batt_current_max) {
// Slow drop for extreme over current (2 second)
_throttle_limit -= 0.5f/_loop_rate;
// Slow drop for extreme over current (5 second)
_throttle_limit -= 0.2f/_loop_rate;
} else {
// Increase throttle limit (2 second)
_throttle_limit += 0.5f/_loop_rate;
@ -324,10 +324,10 @@ void AP_Motors::update_throttle_low_comp()
{
// slew _throttle_low_comp to _throttle_low_comp_desired
if (_throttle_low_comp < _throttle_low_comp_desired) {
// increase quickly (i.e. from 0.1 to 0.9 in 0.8 seconds)
_throttle_low_comp += min(1.0f/_loop_rate, _throttle_low_comp_desired-_throttle_low_comp);
// increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds)
_throttle_low_comp += min(2.0f/_loop_rate, _throttle_low_comp_desired-_throttle_low_comp);
} else if (_throttle_low_comp > _throttle_low_comp_desired) {
// reduce more slowly (from 0.9 to 0.1 in 1.8 seconds)
// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds)
_throttle_low_comp -= min(0.5f/_loop_rate, _throttle_low_comp-_throttle_low_comp_desired);
}
_throttle_low_comp = constrain_float(_throttle_low_comp, 0.1f, 1.0f);