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Clarify Documentation of THR_MDL_FAC

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The documentation of the thrust model parameter `THR_MDL_FAC` did not
mention both thrust and "PWM" being relative values. Also the use of the
term PWM could be misleading, since the model is applicable to CAN ESCs
as well.

This commit rephrases the user documentation string and a few source
code comments, but no logic changes are made.

Closes PX4/Firmware#13105
This commit is contained in:
Lasse
2019-10-09 08:06:51 +02:00
committed by Beat Küng
parent c1faea8d32
commit 5ac0a3043b
4 changed files with 12 additions and 8 deletions
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src/lib/mixer/mixer.h
+3 -3
View File
@@ -241,7 +241,7 @@ public:
virtual unsigned get_trim(float *trim) = 0;
/*
* @brief Sets the thrust factor used to calculate mapping from desired thrust to pwm.
* @brief Sets the thrust factor used to calculate mapping from desired thrust to motor control signal output.
*
* @param[in] val The value
*/
@@ -444,7 +444,7 @@ public:
}
/**
* @brief Sets the thrust factor used to calculate mapping from desired thrust to pwm.
* @brief Sets the thrust factor used to calculate mapping from desired thrust to motor control signal output.
*
* @param[in] val The value
*/
@@ -708,7 +708,7 @@ public:
}
/**
* @brief Sets the thrust factor used to calculate mapping from desired thrust to pwm.
* @brief Sets the thrust factor used to calculate mapping from desired thrust to motor control signal output.
*
* @param[in] val The value
*/
src/lib/mixer_module/mixer_module.hpp
+1 -1
View File
@@ -233,7 +233,7 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode, ///< multicopter air-mode
(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to pwm modelling factor
(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to motor control signal modelling factor
(ParamInt<px4::params::MOT_ORDERING>) _param_mot_ordering,
(ParamInt<px4::params::CBRK_IO_SAFETY>) _param_cbrk_io_safety