zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Plane: pass rc_speed to motor backend constructors 

this sets the right speed as early as possible
master
Andrew Tridgell 7 years ago
parent
9c3b7e7c7d
commit
16c7ab81dc
1 changed files with 4 additions and 4 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 8
      ArduPlane/quadplane.cpp

8
ArduPlane/quadplane.cpp
Unescape View File

@ -526,16 +526,16 @@ bool QuadPlane::setup(void)
switch (motor_class) { switch (motor_class) {
case AP_Motors::MOTOR_FRAME_TRI: case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz()); motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTri::var_info; motors_var_info = AP_MotorsTri::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_TAILSITTER: case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz()); motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTailsitter::var_info; motors_var_info = AP_MotorsTailsitter::var_info;
rotation = ROTATION_PITCH_90; rotation = ROTATION_PITCH_90;
break; break;
default: default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz()); motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info; motors_var_info = AP_MotorsMatrix::var_info;
break; break;
} }
@ -1170,7 +1170,7 @@ bool QuadPlane::assistance_needed(float aspeed)
return false; return false;
} }
uint32_t max_angle_cd = 100U*assist_angle; int32_t max_angle_cd = 100U*assist_angle;
if ((labs(ahrs.roll_sensor - plane.nav_roll_cd) < max_angle_cd && if ((labs(ahrs.roll_sensor - plane.nav_roll_cd) < max_angle_cd &&
labs(ahrs.pitch_sensor - plane.nav_pitch_cd) < max_angle_cd)) { labs(ahrs.pitch_sensor - plane.nav_pitch_cd) < max_angle_cd)) {
// not beyond angle error // not beyond angle error

Write Preview
Loading…
Cancel
Save