From f1cbdbe91443235a4903e7f222eca00f06dfe112 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 21 May 2016 15:49:47 +0900 Subject: [PATCH] AP_Motors: update some comments --- libraries/AP_Motors/AP_MotorsMulticopter.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h index b81d83108a..7855b9bde7 100644 --- a/libraries/AP_Motors/AP_MotorsMulticopter.h +++ b/libraries/AP_Motors/AP_MotorsMulticopter.h @@ -59,7 +59,7 @@ public: bool is_throttle_mix_min() const { return (_throttle_rpy_mix < 1.25f*_thr_mix_min); } // set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle) - // also sets throttle channel minimum and maximum pwm + // also sets minimum and maximum pwm values that will be sent to the motors void set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max); // set_hover_throttle - sets the mid throttle which is close to the hover throttle of the copter @@ -174,8 +174,8 @@ protected: float _throttle_rpy_mix; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1 int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying) int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000) - int16_t _throttle_radio_min; // minimum radio channel pwm - int16_t _throttle_radio_max; // maximum radio channel pwm + int16_t _throttle_radio_min; // minimum PWM from RC input's throttle channel (i.e. minimum PWM input from receiver, RC3_MIN) + int16_t _throttle_radio_max; // maximum PWM from RC input's throttle channel (i.e. maximum PWM input from receiver, RC3_MAX) float _throttle_thrust_max; // the maximum allowed throttle thrust 0.0 to 1.0 in the range throttle_min to throttle_max // spool variables