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

Copter: use new motors thrust linrisation, don't send air density ratio

Browse Source
This commit is contained in:
Iampete1 2023-01-31 01:54:34 +00:00 committed by Andrew Tridgell
parent ab4777de14
commit be275e2cac
2 changed files with 1 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/mode_turtle.cpp
View File

@ -163,7 +163,7 @@ void ModeTurtle::run()
Vector2f input{sign_roll, sign_pitch}; Vector2f input{sign_roll, sign_pitch};
motors_input = input.normalized() * 0.5; motors_input = input.normalized() * 0.5;
// we bypass spin min and friends in the deadzone because we only want spin up when the sticks are moved // we bypass spin min and friends in the deadzone because we only want spin up when the sticks are moved
motors_output = !is_zero(flip_power) ? motors->thrust_to_actuator(flip_power) : 0.0f; motors_output = !is_zero(flip_power) ? motors->thr_lin.thrust_to_actuator(flip_power) : 0.0f;
} }
// actually write values to the motors // actually write values to the motors

2
ArduCopter/sensors.cpp
View File

@ -6,8 +6,6 @@ void Copter::read_barometer(void)
barometer.update(); barometer.update();
baro_alt = barometer.get_altitude() * 100.0f; baro_alt = barometer.get_altitude() * 100.0f;
motors->set_air_density_ratio(barometer.get_air_density_ratio());
} }
void Copter::init_rangefinder(void) void Copter::init_rangefinder(void)