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

Copter Motors: increase MOT_SPIN_ARMED to int16

Browse Source
This commit is contained in:
Randy Mackay 2013-09-18 13:28:01 +09:00
parent a71c52e8ef
commit d3fcfe669d
2 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -48,9 +48,9 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// @Param: SPIN_ARMED
// @DisplayName: Motors always spin when armed
// @Description: Controls whether motors always spin when armed
// @Values: 0:Do Not Spin,70:Slow,100:Medium,130:Fast
AP_GROUPINFO("SPIN_ARMED", 4, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
// @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast
AP_GROUPINFO("SPIN_ARMED", 5, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
AP_GROUPEND
};

4
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -46,7 +46,7 @@
#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed
#define AP_MOTORS_SPIN_WHEN_ARMED 100 // spin motors at this PWM value when armed
// bit mask for recording which limits we have reached when outputting to motors
#define AP_MOTOR_NO_LIMITS_REACHED 0x00
@ -157,7 +157,7 @@ protected:
AP_Int8 _throttle_curve_enabled; // enable throttle curve
AP_Int8 _throttle_curve_mid; // throttle which produces 1/2 the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
AP_Int8 _throttle_curve_max; // throttle which produces the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
AP_Int8 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
// internal variables
RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users