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AP_Motors: reduce slow-start increment for fast CPUs

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This commit is contained in:
Randy Mackay 2014-10-18 20:54:08 +09:00
parent 9d76d3b423
commit d71b08af0c
1 changed files with 10 additions and 4 deletions
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14
libraries/AP_Motors/AP_Motors_Class.h
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@ -61,10 +61,16 @@
#define AP_MOTOR_THROTTLE_LIMIT 0x04
#define AP_MOTOR_ANY_LIMIT 0xFF
// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 2 seconds)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
// To-Do: replace this hard coded counter with a timer
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 1 second)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
#else
// slow start increments - throttle increase per (400hz) iteration. i.e. 1 = full speed in 2.5 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 3 // max throttle ramp speed (i.e. motors can reach full throttle in 0.8 seconds)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 1 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 0.3 second)
#endif
/// @class AP_Motors
class AP_Motors {
public: