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implemented mapping between desired thrust and applied pwm in

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multirotor mixer.

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-12-15 23:39:53 +01:00
committed by Lorenz Meier
parent 22733b1501
commit d221313dfb
9 changed files with 95 additions and 3 deletions
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src/drivers/px4io/px4io.cpp
+8
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@@ -1295,6 +1295,14 @@ PX4IO::task_main()
}
}
/* thrust to pwm modelling factor */
parm_handle = param_find("THR_MDL_FAC");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &param_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_THR_MDL_FAC, FLOAT_TO_REG(param_val));
}
/* maximum motor pwm slew rate */
parm_handle = param_find("MOT_SLEW_MAX");