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AP_MotorsUGV: allow larger MOT_SLEWRATE values

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Daniel Widmann 2017-11-27 15:18:04 +09:00 committed by Randy Mackay
parent 78275ec4a1
commit 8f1857759f
2 changed files with 10 additions and 10 deletions
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18
APMrover2/AP_MotorsUGV.cpp
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@ -45,15 +45,6 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
// @User: Advanced
AP_GROUPINFO("SAFE_DISARM", 3, AP_MotorsUGV, _disarm_disable_pwm, 0),
// @Param: SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout.
// @Units: %/s
// @Range: 0 100
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SLEWRATE", 4, AP_MotorsUGV, _slew_rate, 100),
// @Param: THR_MIN
// @DisplayName: Throttle minimum
// @Description: Throttle minimum percentage the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode.
@ -81,6 +72,15 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
// @User: Standard
AP_GROUPINFO("SKID_FRIC", 7, AP_MotorsUGV, _skid_friction, 0.0f),
// @Param: SLEWRATE
// @DisplayName: Throttle slew rate
// @Description: Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.
// @Units: %/s
// @Range: 0 1000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SLEWRATE", 8, AP_MotorsUGV, _slew_rate, 100),
AP_GROUPEND
};

2
APMrover2/AP_MotorsUGV.h
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@ -93,7 +93,7 @@ protected:
AP_Int8 _pwm_type; // PWM output type
AP_Int8 _pwm_freq; // PWM output freq for brushed motors
AP_Int8 _disarm_disable_pwm; // disable PWM output while disarmed
AP_Int8 _slew_rate; // slew rate expressed as a percentage / second
AP_Int16 _slew_rate; // slew rate expressed as a percentage / second
AP_Int8 _throttle_min; // throttle minimum percentage
AP_Int8 _throttle_max; // throttle maximum percentage
AP_Float _skid_friction; // skid steering vehicle motor output compensation for friction while stopped