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UAVCAN driver: support throttle linearization (THR_MLD_FAC parameter)

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2019-07-09 15:10:54 -04:00
committed by Daniel Agar
parent 2aa05e3914
commit b54a43fccc
4 changed files with 15 additions and 6 deletions
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src/drivers/px4fmu/fmu.cpp
+2 -5
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@@ -1178,9 +1178,8 @@ PX4FMU::cycle()
_mixers->set_max_delta_out_once(delta_out_max);
}
if (_thr_mdl_fac > FLT_EPSILON) {
_mixers->set_thrust_factor(_thr_mdl_fac);
}
_mixers->set_thrust_factor(_thr_mdl_fac);
_mixers->set_airmode(_airmode);
/* do mixing */
float outputs[_max_actuators];
@@ -1246,8 +1245,6 @@ PX4FMU::cycle()
orb_publish_auto(ORB_ID(multirotor_motor_limits), &_to_mixer_status, &motor_limits, &_class_instance, ORB_PRIO_DEFAULT);
}
_mixers->set_airmode(_airmode);
// use first valid timestamp_sample for latency tracking
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
const bool required = _groups_required & (1 << i);