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Copter: remove THR_MIN

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Equivalent is AP_Motors SPIN_MIN
This commit is contained in:
Leonard Hall 2016-06-09 21:48:21 +09:00 committed by Randy Mackay
parent 6a1bdebf25
commit dec9323127
5 changed files with 3 additions and 17 deletions
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2
ArduCopter/ArduCopter.cpp
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@ -476,9 +476,9 @@ void Copter::one_hz_loop()
motors.set_frame_orientation(g.frame_orientation); motors.set_frame_orientation(g.frame_orientation);
// set all throttle channel settings // set all throttle channel settings
motors.set_throttle_range(g.throttle_min, channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
// set hover throttle // set hover throttle
motors.set_hover_throttle(g.throttle_mid); motors.set_hover_throttle(g.throttle_mid);
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif #endif
} }

9
ArduCopter/Parameters.cpp
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@ -278,15 +278,6 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT), GSCALAR(pilot_accel_z, "PILOT_ACCEL_Z", PILOT_ACCEL_Z_DEFAULT),
// @Param: THR_MIN
// @DisplayName: Throttle Minimum
// @Description: The minimum throttle that will be sent to the motors to keep them spinning
// @Units: Percent*10
// @Range: 0 300
// @Increment: 1
// @User: Standard
GSCALAR(throttle_min, "THR_MIN", THR_MIN_DEFAULT),
// @Param: FS_THR_ENABLE // @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable // @DisplayName: Throttle Failsafe Enable
// @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel

3
ArduCopter/Parameters.h
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@ -280,7 +280,7 @@ public:
k_param_rc_8, k_param_rc_8,
k_param_rc_10, k_param_rc_10,
k_param_rc_11, k_param_rc_11,
k_param_throttle_min, k_param_throttle_min, // remove
k_param_throttle_max, // remove k_param_throttle_max, // remove
k_param_failsafe_throttle, k_param_failsafe_throttle,
k_param_throttle_fs_action, // remove k_param_throttle_fs_action, // remove
@ -414,7 +414,6 @@ public:
// Throttle // Throttle
// //
AP_Int16 throttle_min;
AP_Int8 failsafe_throttle; AP_Int8 failsafe_throttle;
AP_Int16 failsafe_throttle_value; AP_Int16 failsafe_throttle_value;
AP_Int16 throttle_mid; AP_Int16 throttle_mid;

4
ArduCopter/config.h
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@ -551,10 +551,6 @@
# define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position # define THR_MID_DEFAULT 500 // Throttle output (0 ~ 1000) when throttle stick is in mid position
#endif #endif
#ifndef THR_MIN_DEFAULT
# define THR_MIN_DEFAULT 130 // minimum throttle sent to the motors when armed and pilot throttle above zero
#endif
#ifndef THR_DZ_DEFAULT #ifndef THR_DZ_DEFAULT
# define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter # define THR_DZ_DEFAULT 100 // the deadzone above and below mid throttle while in althold or loiter
#endif #endif

2
ArduCopter/radio.cpp
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@ -59,8 +59,8 @@ void Copter::init_rc_out()
motors.set_loop_rate(scheduler.get_loop_rate_hz()); motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.Init(); // motor initialisation motors.Init(); // motor initialisation
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
motors.set_throttle_range(g.throttle_min, channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
motors.set_hover_throttle(g.throttle_mid); motors.set_hover_throttle(g.throttle_mid);
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif #endif
for(uint8_t i = 0; i < 5; i++) { for(uint8_t i = 0; i < 5; i++) {