AP_Motors: rename throttle_ave_max to throttle_avg_max

libraries/AP_Motors/AP_MotorsCoax.cpp

@@ -196,7 +196,7 @@ void AP_MotorsCoax::output_armed_stabilizing()
         limit.throttle_upper = true;
     }
 
-    _throttle_ave_max = constrain_float(_throttle_ave_max, throttle_thrust, _throttle_thrust_max);
+    _throttle_avg_max = constrain_float(_throttle_avg_max, throttle_thrust, _throttle_thrust_max);
 
     float rp_thrust_max = MAX(fabsf(roll_thrust), fabsf(pitch_thrust));
 
@@ -219,15 +219,15 @@ void AP_MotorsCoax::output_armed_stabilizing()
     // calculate the minimum thrust that doesn't limit the roll, pitch and yaw forces
     thrust_min_rpy = MAX(fabsf(rp_scale * rp_thrust_max), fabsf(yaw_thrust));
 
-    thr_adj = throttle_thrust - _throttle_ave_max;
-    if (thr_adj < (thrust_min_rpy - _throttle_ave_max)) {
+    thr_adj = throttle_thrust - _throttle_avg_max;
+    if (thr_adj < (thrust_min_rpy - _throttle_avg_max)) {
         // Throttle can't be reduced to the desired level because this would mean roll or pitch control
         // would not be able to reach the desired level because of lack of thrust.
-        thr_adj = MIN(thrust_min_rpy, _throttle_ave_max) - _throttle_ave_max;
+        thr_adj = MIN(thrust_min_rpy, _throttle_avg_max) - _throttle_avg_max;
     }
 
     // calculate the throttle setting for the lift fan
-    thrust_out = _throttle_ave_max + thr_adj;
+    thrust_out = _throttle_avg_max + thr_adj;
 
     if (fabsf(yaw_thrust) > thrust_out) {
         yaw_thrust = constrain_float(yaw_thrust, -thrust_out, thrust_out);

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -175,7 +175,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
         limit.throttle_upper = true;
     }
 
-    _throttle_ave_max = constrain_float(_throttle_ave_max, throttle_thrust, _throttle_thrust_max);
+    _throttle_avg_max = constrain_float(_throttle_avg_max, throttle_thrust, _throttle_thrust_max);
 
     // calculate throttle that gives most possible room for yaw which is the lower of:
     //      1. 0.5f - (rpy_low+rpy_high)/2.0 - this would give the maximum possible margin above the highest motor and below the lowest
@@ -190,7 +190,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
     // calculate amount of yaw we can fit into the throttle range
     // this is always equal to or less than the requested yaw from the pilot or rate controller
 
-    throttle_thrust_best_rpy = MIN(0.5f, _throttle_ave_max);
+    throttle_thrust_best_rpy = MIN(0.5f, _throttle_avg_max);
 
     // calculate roll and pitch for each motor
     // calculate the amount of yaw input that each motor can accept
@@ -240,7 +240,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
     }
 
     // check everything fits
-    throttle_thrust_best_rpy = MIN(0.5f - (rpy_low+rpy_high)/2.0, _throttle_ave_max);
+    throttle_thrust_best_rpy = MIN(0.5f - (rpy_low+rpy_high)/2.0, _throttle_avg_max);
     if (is_zero(rpy_low)){
         rpy_scale = 1.0f;
     } else {

libraries/AP_Motors/AP_MotorsSingle.cpp

@@ -200,7 +200,7 @@ void AP_MotorsSingle::output_armed_stabilizing()
         limit.throttle_upper = true;
     }
 
-    _throttle_ave_max = constrain_float(_throttle_ave_max, throttle_thrust, _throttle_thrust_max);
+    _throttle_avg_max = constrain_float(_throttle_avg_max, throttle_thrust, _throttle_thrust_max);
 
     float rp_thrust_max = MAX(fabsf(roll_thrust), fabsf(pitch_thrust));
 
@@ -234,15 +234,15 @@ void AP_MotorsSingle::output_armed_stabilizing()
     // calculate the minimum thrust that doesn't limit the roll, pitch and yaw forces
     thrust_min_rpy = MAX(MAX(fabsf(actuator[0]), fabsf(actuator[1])), MAX(fabsf(actuator[2]), fabsf(actuator[3])));
 
-    thr_adj = throttle_thrust - _throttle_ave_max;
-    if (thr_adj < (thrust_min_rpy - _throttle_ave_max)) {
+    thr_adj = throttle_thrust - _throttle_avg_max;
+    if (thr_adj < (thrust_min_rpy - _throttle_avg_max)) {
         // Throttle can't be reduced to the desired level because this would mean roll or pitch control
         // would not be able to reach the desired level because of lack of thrust.
-        thr_adj = MIN(thrust_min_rpy, _throttle_ave_max) - _throttle_ave_max;
+        thr_adj = MIN(thrust_min_rpy, _throttle_avg_max) - _throttle_avg_max;
     }
 
     // calculate the throttle setting for the lift fan
-    _thrust_out = _throttle_ave_max + thr_adj;
+    _thrust_out = _throttle_avg_max + thr_adj;
 
     if (is_zero(_thrust_out)) {
         limit.roll_pitch = true;

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -211,7 +211,7 @@ void AP_MotorsTri::output_armed_stabilizing()
         limit.throttle_upper = true;
     }
 
-    _throttle_ave_max = constrain_float(_throttle_ave_max, throttle_thrust, _throttle_thrust_max);
+    _throttle_avg_max = constrain_float(_throttle_avg_max, throttle_thrust, _throttle_thrust_max);
 
     // The following mix may be offer less coupling between axis but needs testing
     //_thrust_right = roll_thrust * -0.5f + pitch_thrust * 1.0f;
@@ -248,7 +248,7 @@ void AP_MotorsTri::output_armed_stabilizing()
     //      We will choose #2 (a mix of pilot and hover throttle) only when the throttle is quite low.  We favor reducing throttle instead of better yaw control because the pilot has commanded it
 
     // check everything fits
-    throttle_thrust_best_rpy = MIN(0.5f*thrust_max - (rpy_low+rpy_high)/2.0, _throttle_ave_max);
+    throttle_thrust_best_rpy = MIN(0.5f*thrust_max - (rpy_low+rpy_high)/2.0, _throttle_avg_max);
     if(is_zero(rpy_low)){
         rpy_scale = 1.0f;
     } else {

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -32,7 +32,7 @@ AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
     _pitch_in(0.0f),
     _yaw_in(0.0f),
     _throttle_in(0.0f),
-    _throttle_ave_max(0.0f),
+    _throttle_avg_max(0.0f),
     _throttle_filter(),
     _spool_desired(DESIRED_SHUT_DOWN),
     _batt_voltage(0.0f),

libraries/AP_Motors/AP_Motors_Class.h

@@ -63,7 +63,7 @@ public:
     void                set_pitch(float pitch_in) { _pitch_in = pitch_in; };    // range -1 ~ +1
     void                set_yaw(float yaw_in) { _yaw_in = yaw_in; };            // range -1 ~ +1
     void                set_throttle(float throttle_in) { _throttle_in = throttle_in; };   // range 0 ~ 1
-    void                set_throttle_ave_max(float throttle_ave_max) { _throttle_ave_max = constrain_float(throttle_ave_max,0.0f,1.0f); };   // range 0 ~ 1
+    void                set_throttle_avg_max(float throttle_avg_max) { _throttle_avg_max = constrain_float(throttle_avg_max,0.0f,1.0f); };   // range 0 ~ 1
     void                set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
 
     // accessors for roll, pitch, yaw and throttle inputs to motors
@@ -170,7 +170,7 @@ protected:
     float               _pitch_in;                  // desired pitch control from attitude controller, -1 ~ +1
     float               _yaw_in;                    // desired yaw control from attitude controller, -1 ~ +1
     float               _throttle_in;               // last throttle input from set_throttle caller
-    float               _throttle_ave_max;          // last throttle input from set_throttle_ave_max
+    float               _throttle_avg_max;          // last throttle input from set_throttle_avg_max
     LowPassFilterFloat  _throttle_filter;           // throttle input filter
     spool_up_down_desired _spool_desired;           // desired spool state