From 1fa335a77b34d0eee75d7960417a3a8c4644eb30 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 21 Jan 2019 20:13:00 +0900
Subject: [PATCH] AP_Motors: actuator_spin_up renamed to include
_to_ground_idle
---
libraries/AP_Motors/AP_MotorsCoax.cpp | 4 ++--
libraries/AP_Motors/AP_MotorsMatrix.cpp | 2 +-
libraries/AP_Motors/AP_MotorsMulticopter.cpp | 4 ++--
libraries/AP_Motors/AP_MotorsMulticopter.h | 4 ++--
libraries/AP_Motors/AP_MotorsSingle.cpp | 4 ++--
libraries/AP_Motors/AP_MotorsTailsitter.cpp | 8 ++++----
libraries/AP_Motors/AP_MotorsTri.cpp | 6 +++---
7 files changed, 16 insertions(+), 16 deletions(-)
diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index 78db05b7e4..0ad6623ff3 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/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;
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 18a1425202..37d3ef64b8 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/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;
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index e6a422acd1..c2388dd72b 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/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;
}
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h
index 9762ae3e80..5934b966cd 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.h
+++ b/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) {}
diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
index a63d7af9db..54dd8e1714 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.cpp
+++ b/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;
diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.cpp b/libraries/AP_Motors/AP_MotorsTailsitter.cpp
index 928406fa7e..03fbd9fb56 100644
--- a/libraries/AP_Motors/AP_MotorsTailsitter.cpp
+++ b/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:
diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 441d2d0239..29cda819b5 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/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]));