AP_Motors: actuator_spin_up renamed to include _to_ground_idle

libraries/AP_Motors/AP_MotorsCoax.cpp

@@ -83,8 +83,8 @@ void AP_MotorsCoax::output_to_motors()
             for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
                 rc_write_angle(AP_MOTORS_MOT_1+i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
             }
-            set_actuator_with_slew(_actuator[5], actuator_spin_up());
-            set_actuator_with_slew(_actuator[6], actuator_spin_up());
+            set_actuator_with_slew(_actuator[5], actuator_spin_up_to_ground_idle());
+            set_actuator_with_slew(_actuator[6], actuator_spin_up_to_ground_idle());
             rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5]));
             rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6]));
             break;

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -87,7 +87,7 @@ void AP_MotorsMatrix::output_to_motors()
             // sends output to motors when armed but not flying
             for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
                 if (motor_enabled[i]) {
-                    set_actuator_with_slew(_actuator[i], actuator_spin_up());
+                    set_actuator_with_slew(_actuator[i], actuator_spin_up_to_ground_idle());
                 }
             }
             break;

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -437,8 +437,8 @@ void AP_MotorsMulticopter::set_actuator_with_slew(float& actuator_output, float
     actuator_output = constrain_float(input, output_slew_limit_dn, output_slew_limit_up);
 }
 
-// gradually increase actuator output maximum limit
-float AP_MotorsMulticopter::actuator_spin_up() const
+// gradually increase actuator output to spin_min
+float AP_MotorsMulticopter::actuator_spin_up_to_ground_idle() const
 {
     return constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
 }

libraries/AP_Motors/AP_MotorsMulticopter.h

@@ -124,8 +124,8 @@ protected:
     // adds slew rate limiting to actuator output if MOT_SLEW_TIME > 0 and not shutdown
     void                set_actuator_with_slew(float& actuator_output, float input);
 
-    // gradually increase actuator output maximum limit
-    float               actuator_spin_up() const;
+    // gradually increase actuator output to ground idle
+    float               actuator_spin_up_to_ground_idle() const;
 
     // apply any thrust compensation for the frame
     virtual void        thrust_compensation(void) {}

libraries/AP_Motors/AP_MotorsSingle.cpp

@@ -86,8 +86,8 @@ void AP_MotorsSingle::output_to_motors()
             for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
                 rc_write_angle(AP_MOTORS_MOT_1+i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
             }
-            set_actuator_with_slew(_actuator[5], actuator_spin_up());
-            set_actuator_with_slew(_actuator[6], actuator_spin_up());
+            set_actuator_with_slew(_actuator[5], actuator_spin_up_to_ground_idle());
+            set_actuator_with_slew(_actuator[6], actuator_spin_up_to_ground_idle());
             rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5]));
             rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6]));
             break;

libraries/AP_Motors/AP_MotorsTailsitter.cpp

@@ -90,10 +90,10 @@ void AP_MotorsTailsitter::output_to_motors()
             SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, get_pwm_output_min());
             break;
         case GROUND_IDLE:
-            throttle_pwm = output_to_pwm(actuator_spin_up());
-            set_actuator_with_slew(_actuator[1], actuator_spin_up());
-            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(actuator_spin_up()));
-            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(actuator_spin_up()));
+            throttle_pwm = output_to_pwm(actuator_spin_up_to_ground_idle());
+            set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(actuator_spin_up_to_ground_idle()));
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(actuator_spin_up_to_ground_idle()));
             break;
         case SPOOL_UP:
         case THROTTLE_UNLIMITED:

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -87,9 +87,9 @@ void AP_MotorsTri::output_to_motors()
             break;
         case GROUND_IDLE:
             // sends output to motors when armed but not flying
-            set_actuator_with_slew(_actuator[1], actuator_spin_up());
-            set_actuator_with_slew(_actuator[2], actuator_spin_up());
-            set_actuator_with_slew(_actuator[4], actuator_spin_up());
+            set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
+            set_actuator_with_slew(_actuator[2], actuator_spin_up_to_ground_idle());
+            set_actuator_with_slew(_actuator[4], actuator_spin_up_to_ground_idle());
             rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
             rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
             rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));