AP_MotorsUGV: allow larger MOT_SLEWRATE values

APMrover2/AP_MotorsUGV.cpp

@@ -45,15 +45,6 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SAFE_DISARM", 3, AP_MotorsUGV, _disarm_disable_pwm, 0),
 
-    // @Param: SLEWRATE
-    // @DisplayName: Throttle slew rate
-    // @Description: maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. A value of zero means no limit. A value of 100 means the throttle can change over its full range in one second. Note that for some NiMH powered rovers setting a lower value like 40 or 50 may be worthwhile as the sudden current demand on the battery of a big rise in throttle may cause a brownout.
-    // @Units: %/s
-    // @Range: 0 100
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SLEWRATE", 4, AP_MotorsUGV, _slew_rate, 100),
-
     // @Param: THR_MIN
     // @DisplayName: Throttle minimum
     // @Description: Throttle minimum percentage the autopilot will apply. This is mostly useful for rovers with internal combustion motors, to prevent the motor from cutting out in auto mode.
@@ -81,6 +72,15 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("SKID_FRIC", 7, AP_MotorsUGV, _skid_friction, 0.0f),
 
+    // @Param: SLEWRATE
+    // @DisplayName: Throttle slew rate
+    // @Description: Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second.  A value of zero disables the limit.  Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.
+    // @Units: %/s
+    // @Range: 0 1000
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("SLEWRATE", 8, AP_MotorsUGV, _slew_rate, 100),
+
     AP_GROUPEND
 };
 

APMrover2/AP_MotorsUGV.h

@@ -93,7 +93,7 @@ protected:
     AP_Int8 _pwm_type;  // PWM output type
     AP_Int8 _pwm_freq;  // PWM output freq for brushed motors
     AP_Int8 _disarm_disable_pwm;    // disable PWM output while disarmed
-    AP_Int8 _slew_rate; // slew rate expressed as a percentage / second
+    AP_Int16 _slew_rate; // slew rate expressed as a percentage / second
     AP_Int8 _throttle_min; // throttle minimum percentage
     AP_Int8 _throttle_max; // throttle maximum percentage
     AP_Float _skid_friction;    // skid steering vehicle motor output compensation for friction while stopped