Plane: get throttle input return float

ArduPlane/AP_Arming.cpp

@@ -174,7 +174,7 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
         }
 
         // if throttle is not down, then pilot cannot rudder arm/disarm
-        if (plane.get_throttle_input() != 0){
+        if (!is_zero(plane.get_throttle_input())){
             check_failed(true, "Non-zero throttle");
             return false;
         }

ArduPlane/Attitude.cpp

@@ -520,7 +520,7 @@ void Plane::stabilize()
     /*
       see if we should zero the attitude controller integrators. 
      */
-    if (get_throttle_input() == 0 &&
+    if (is_zero(get_throttle_input()) &&
         fabsf(relative_altitude) < 5.0f && 
         fabsf(barometer.get_climb_rate()) < 0.5f &&
         ahrs.groundspeed() < 3) {
@@ -616,7 +616,7 @@ void Plane::calc_nav_yaw_course(void)
 void Plane::calc_nav_yaw_ground(void)
 {
     if (gps.ground_speed() < 1 && 
-        get_throttle_input() == 0 &&
+        is_zero(get_throttle_input()) &&
         flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF &&
         flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
         // manual rudder control while still

ArduPlane/Plane.h

@@ -1110,8 +1110,8 @@ private:
     bool have_reverse_throttle_rc_option;
     bool allow_reverse_thrust(void) const;
     bool have_reverse_thrust(void) const;
-    int16_t get_throttle_input(bool no_deadzone=false) const;
-    int16_t get_adjusted_throttle_input(bool no_deadzone=false) const;
+    float get_throttle_input(bool no_deadzone=false) const;
+    float get_adjusted_throttle_input(bool no_deadzone=false) const;
 
     enum Failsafe_Action {
         Failsafe_Action_None      = 0,

ArduPlane/motor_test.cpp

@@ -59,7 +59,7 @@ void QuadPlane::motor_test_output()
         break;
 
     case MOTOR_TEST_THROTTLE_PILOT:
-        pwm = thr_min_pwm + (thr_max_pwm - thr_min_pwm) * (float)plane.get_throttle_input()*0.01f;
+        pwm = thr_min_pwm + (thr_max_pwm - thr_min_pwm) * plane.get_throttle_input()*0.01f;
         break;
 
     default:

ArduPlane/quadplane.cpp

@@ -1069,7 +1069,7 @@ bool QuadPlane::is_flying_vtol(void) const
     }
     if (plane.control_mode->is_vtol_man_mode()) {
         // in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
-        return plane.get_throttle_input() > 0;
+        return is_positive(plane.get_throttle_input());
     }
     if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) {
         // use landing detector
@@ -1131,7 +1131,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
 {
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && air_mode_active();
     if (!manual_air_mode &&
-        plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() &&
+        !is_positive(plane.get_throttle_input()) && !plane.control_mode->does_auto_throttle() &&
         plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED && !(inertial_nav.get_velocity_z() < -0.5 * get_pilot_velocity_z_max_dn())) {
         // the user may be trying to disarm
         return 0;
@@ -1173,7 +1173,7 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
         yaw_cds += desired_auto_yaw_rate_cds();
     }
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && air_mode_active();
-    if (plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() && !manual_air_mode && !(inertial_nav.get_velocity_z() < -0.5 * get_pilot_velocity_z_max_dn())) {
+    if (!is_positive(plane.get_throttle_input()) && !plane.control_mode->does_auto_throttle() && !manual_air_mode && !(inertial_nav.get_velocity_z() < -0.5 * get_pilot_velocity_z_max_dn())) {
         // the user may be trying to disarm
         return 0;
     }
@@ -1277,7 +1277,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
     }
 
     if (!tailsitter.enabled() && !( (plane.control_mode->does_auto_throttle() && !plane.throttle_suppressed)
-                                                                      || plane.get_throttle_input()>0 
+                                                                      || is_positive(plane.get_throttle_input()) 
                                                                       || plane.is_flying() ) ) {
         // not in a flight mode and condition where it would be safe to turn on vertial lift motors
         // skip this check for tailsitters because the forward and vertial motors are the same and are controled directly by throttle imput unlike other quadplanes
@@ -1763,7 +1763,7 @@ void QuadPlane::update_throttle_suppression(void)
     }
 
     // if the users throttle is above zero then allow motors to run
-    if (plane.get_throttle_input() != 0) {
+    if (!is_zero(plane.get_throttle_input())) {
         return;
     }
 
@@ -3460,7 +3460,7 @@ void QuadPlane::update_throttle_mix(void)
 
     if (plane.control_mode->is_vtol_man_throttle()) {
         // manual throttle
-        if ((plane.get_throttle_input() <= 0) && !air_mode_active()) {
+        if (!is_positive(plane.get_throttle_input()) && !air_mode_active()) {
             attitude_control->set_throttle_mix_min();
         } else {
             attitude_control->set_throttle_mix_man();

ArduPlane/reverse_thrust.cpp

@@ -123,9 +123,9 @@ bool Plane::have_reverse_thrust(void) const
 /*
   return control in from the radio throttle channel.
  */
-int16_t Plane::get_throttle_input(bool no_deadzone) const
+float Plane::get_throttle_input(bool no_deadzone) const
 {
-    int16_t ret;
+    float ret;
     if (no_deadzone) {
         ret = channel_throttle->get_control_in_zero_dz();
     } else {
@@ -141,12 +141,12 @@ int16_t Plane::get_throttle_input(bool no_deadzone) const
 /*
   return control in from the radio throttle channel with curve giving mid-stick equal to TRIM_THROTTLE.
  */
-int16_t Plane::get_adjusted_throttle_input(bool no_deadzone) const
+float Plane::get_adjusted_throttle_input(bool no_deadzone) const
 {
     if ((plane.channel_throttle->get_type() != RC_Channel::RC_CHANNEL_TYPE_RANGE) || (g2.flight_options & FlightOptions::CENTER_THROTTLE_TRIM) == 0) { 
        return  get_throttle_input(no_deadzone);
     }
-    int16_t ret = channel_throttle->get_range() * throttle_curve(aparm.throttle_cruise * 0.01, 0, 0.5 + 0.5*channel_throttle->norm_input());
+    float ret = channel_throttle->get_range() * throttle_curve(aparm.throttle_cruise * 0.01, 0, 0.5 + 0.5*channel_throttle->norm_input());
     if (reversed_throttle) {
         // RC option for reverse throttle has been set
         return -ret;