Motors: remove old throttle curve

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -36,32 +36,8 @@ extern const AP_HAL::HAL& hal;
 // parameters for the motor class
 const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
     // 0 was used by TB_RATIO
+    // 1,2,3 were used by throttle curve
 
-    // @Param: TCRV_ENABLE
-    // @DisplayName: Thrust Curve Enable
-    // @Description: Controls whether a curve is used to linearize the thrust produced by the motors
-    // @User: Advanced
-    // @Values: 0:Disabled,1:Enable
-    AP_GROUPINFO("TCRV_ENABLE", 1, AP_Motors, _throttle_curve_enabled, THROTTLE_CURVE_ENABLED),
-
-    // @Param: TCRV_MIDPCT
-    // @DisplayName: Thrust Curve mid-point percentage
-    // @Description: Set the pwm position that produces half the maximum thrust of the motors
-    // @User: Advanced
-    // @Units: percent
-    // @Range: 20 80
-    // @Increment: 1
-    AP_GROUPINFO("TCRV_MIDPCT", 2, AP_Motors, _throttle_curve_mid, THROTTLE_CURVE_MID_THRUST),
-
-    // @Param: TCRV_MAXPCT
-    // @DisplayName: Thrust Curve max thrust percentage
-    // @Description: Set to the lowest pwm position that produces the maximum thrust of the motors.  Most motors produce maximum thrust below the maximum pwm value that they accept.
-    // @User: Advanced
-    // @Units: percent
-    // @Range: 50 100
-    // @Increment: 1
-    AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
-    
     // @Param: SPIN_ARMED
     // @DisplayName: Motors always spin when armed
     // @Description: Controls whether motors always spin when armed (must be below THR_MIN)
@@ -153,13 +129,6 @@ AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_t
     _flags.slow_start_low_end = true;
 };
 
-// init
-void AP_Motors::Init()
-{
-    // set-up throttle curve - motors classes will decide whether to use it based on _throttle_curve_enabled parameter
-    setup_throttle_curve();
-};
-
 void AP_Motors::armed(bool arm)
 {
     _flags.armed = arm;
@@ -210,43 +179,6 @@ void AP_Motors::output()
     }
 };
 
-// setup_throttle_curve - used to linearise thrust output by motors
-// returns true if set up successfully
-bool AP_Motors::setup_throttle_curve()
-{
-    int16_t min_pwm = _rc_throttle.radio_min;
-    int16_t max_pwm = _rc_throttle.radio_max;
-	int16_t mid_throttle_pwm = (max_pwm + min_pwm) / 2;
-    int16_t mid_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_mid/100.0f);
-    int16_t max_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_max/100.0f);
-    bool retval = true;
-
-    // some basic checks that the curve is valid
-    if( mid_thrust_pwm >= (min_pwm+_min_throttle) && mid_thrust_pwm <= max_pwm && max_thrust_pwm >= mid_thrust_pwm && max_thrust_pwm <= max_pwm ) {
-        // clear curve
-        _throttle_curve.clear();
-
-        // curve initialisation
-        retval &= _throttle_curve.add_point(min_pwm, min_pwm);
-        retval &= _throttle_curve.add_point(min_pwm+_min_throttle, min_pwm+_min_throttle);
-        retval &= _throttle_curve.add_point(mid_throttle_pwm, mid_thrust_pwm);
-        retval &= _throttle_curve.add_point(max_pwm, max_thrust_pwm);
-
-        // return success
-        return retval;
-    }else{
-        retval = false;
-    }
-
-    // disable throttle curve if not set-up correctly
-    if( !retval ) {
-        _throttle_curve_enabled = false;
-        hal.console->println_P(PSTR("AP_Motors: failed to create throttle curve"));
-    }
-
-    return retval;
-}
-
 // slow_start - set to true to slew motors from current speed to maximum
 // Note: this must be set immediately before a step up in throttle
 void AP_Motors::slow_start(bool true_false)

libraries/AP_Motors/AP_Motors_Class.h

@@ -7,7 +7,6 @@
 #include <AP_Progmem.h>
 #include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
 #include <AP_Notify.h>      // Notify library
-#include <AP_Curve.h>       // Curve used to linearlise throttle pwm to thrust
 #include <RC_Channel.h>     // RC Channel Library
 
 // offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays
@@ -88,7 +87,7 @@ public:
     AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
 
     // init
-    virtual void        Init();
+    virtual void        Init() {}
 
     // set update rate to motors - a value in hertz
     virtual void        set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
@@ -145,10 +144,6 @@ public:
     // set_current - set current to be used for output scaling
     virtual void        set_current(float current){ _batt_current = current; }
 
-	// setup_throttle_curve - used to linearlise thrust output by motors
-    //      returns true if curve is created successfully
-	bool                setup_throttle_curve();
-
     // 1 if motor is enabled, 0 otherwise
     bool                motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
 
@@ -195,10 +190,6 @@ protected:
     static const uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM;
 
     // parameters
-    AP_CurveInt16_Size4 _throttle_curve;        // curve used to linearize the pwm->thrust
-    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_Int16            _spin_when_armed;       // used to control whether the motors always spin when armed.  pwm value above radio_min
 
     AP_Int16            _yaw_headroom;          // yaw control is given at least this pwm range