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MotorsTri, Single, Coax: use new thrust curve

mission-4.1.18
Randy Mackay 10 years ago
parent
2eaa4a8445
commit
5fb3de48ee
3 changed files with 11 additions and 61 deletions
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  1. 32
      libraries/AP_Motors/AP_MotorsCoax.cpp
  2. 30
      libraries/AP_Motors/AP_MotorsSingle.cpp
  3. 10
      libraries/AP_Motors/AP_MotorsTri.cpp

32
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -29,29 +29,7 @@ extern const AP_HAL::HAL& hal; @@ -29,29 +29,7 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsCoax::var_info[] PROGMEM = {
// 0 was used by TB_RATIO
// @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_MotorsCoax, _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
// @Range: 20 80
// @Increment: 1
AP_GROUPINFO("TCRV_MIDPCT", 2, AP_MotorsCoax, _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
// @Range: 20 80
// @Increment: 1
AP_GROUPINFO("TCRV_MAXPCT", 3, AP_MotorsCoax, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
// 1,2,3 were used by throttle curve
// @Param: SPIN_ARMED
// @DisplayName: Motors always spin when armed
@ -193,11 +171,9 @@ void AP_MotorsCoax::output_armed() @@ -193,11 +171,9 @@ void AP_MotorsCoax::output_armed()
_servo1.calc_pwm();
_servo2.calc_pwm();
// adjust for throttle curve
if( _throttle_curve_enabled ) {
motor_out[AP_MOTORS_MOT_3] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_3]);
motor_out[AP_MOTORS_MOT_4] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_4]);
}
// adjust for thrust curve and voltage scaling
motor_out[AP_MOTORS_MOT_3] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_3], out_min, _rc_throttle.radio_max);
motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, _rc_throttle.radio_max);
// ensure motors don't drop below a minimum value and stop
motor_out[AP_MOTORS_MOT_3] = max(motor_out[AP_MOTORS_MOT_3], out_min);

30
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -29,29 +29,7 @@ extern const AP_HAL::HAL& hal; @@ -29,29 +29,7 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsSingle::var_info[] PROGMEM = {
// 0 was used by TB_RATIO
// @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_MotorsSingle, _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
// @Range: 20 80
// @Increment: 1
AP_GROUPINFO("TCRV_MIDPCT", 2, AP_MotorsSingle, _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
// @Range: 20 80
// @Increment: 1
AP_GROUPINFO("TCRV_MAXPCT", 3, AP_MotorsSingle, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
// 1,2,3 were used by throttle curve
// @Param: SPIN_ARMED
// @DisplayName: Motors always spin when armed
@ -199,10 +177,8 @@ void AP_MotorsSingle::output_armed() @@ -199,10 +177,8 @@ void AP_MotorsSingle::output_armed()
//motor
motor_out = _rc_throttle.radio_out;
// adjust for throttle curve
if( _throttle_curve_enabled ) {
motor_out = _throttle_curve.get_y(motor_out);
}
// adjust for thrust curve and voltage scaling
motor_out = apply_thrust_curve_and_volt_scaling(motor_out, out_min, _rc_throttle.radio_max);
// ensure motor doesn't drop below a minimum value and stop
motor_out = max(motor_out, out_min);

10
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -168,12 +168,10 @@ void AP_MotorsTri::output_armed() @@ -168,12 +168,10 @@ void AP_MotorsTri::output_armed()
motor_out[AP_MOTORS_MOT_4] = out_max;
}
// adjust for throttle curve
if( _throttle_curve_enabled ) {
motor_out[AP_MOTORS_MOT_1] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_1]);
motor_out[AP_MOTORS_MOT_2] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_2]);
motor_out[AP_MOTORS_MOT_4] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_4]);
}
// adjust for thrust curve and voltage scaling
motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
// ensure motors don't drop below a minimum value and stop
motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], out_min);

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