From 1371499022289021fab51a6d9779e0904c7d90bc Mon Sep 17 00:00:00 2001 From: Iampete1 Date: Thu, 30 Sep 2021 22:22:02 +0100 Subject: [PATCH] AP_Motors: add note about test to new inverse functions --- libraries/AP_Motors/AP_MotorsMulticopter.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp index eeed174623..17b59df5bf 100644 --- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp +++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp @@ -352,7 +352,8 @@ float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) co return constrain_float(throttle_ratio * battery_scale, 0.0f, 1.0f); } -// inverse of above +// inverse of above, tested with AP_Motors/examples/expo_inverse_test +// used to calculate equivelent motor throttle level to direct ouput, used in tailsitter transtions float AP_MotorsMulticopter::remove_thrust_curve_and_volt_scaling(float throttle) const { float battery_scale = 1.0; @@ -440,7 +441,8 @@ float AP_MotorsMulticopter::thrust_to_actuator(float thrust_in) const return _spin_min + (_spin_max - _spin_min) * apply_thrust_curve_and_volt_scaling(thrust_in); } -// inverse of above +// inverse of above, tested with AP_Motors/examples/expo_inverse_test +// used to calculate equivelent motor throttle level to direct ouput, used in tailsitter transtions float AP_MotorsMulticopter::actuator_to_thrust(float actuator) const { actuator = (actuator - _spin_min) / (_spin_max - _spin_min);