Plane: pass throttle slew rate into output motor mask for tiltrotors …

…and tailsitters
ArduPilot · Jan 5, 2025 · 76008fb · 76008fb
1 parent 50c45cf
commit 76008fb
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Showing 4 changed files with 16 additions and 11 deletions.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1180,6 +1180,7 @@ class Plane : public AP_Vehicle {
     void servos_twin_engine_mix();
     void force_flare();
     void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
+    float get_throttle_slewrate() const;
     void throttle_slew_limit();
     bool suppress_throttle(void);
     void update_throttle_hover();

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -19,10 +19,10 @@
 #include "Plane.h"
 #include <utility>
 
-/*****************************************
-* Throttle slew limit
-*****************************************/
-void Plane::throttle_slew_limit()
+// Get slew rate for throttle as a percentage per second.
+// 100% would allow the throttle to move from 0 to 100 in 1 second.
+// 0 is disabled
+float Plane::get_throttle_slewrate() const
 {
 #if HAL_QUADPLANE_ENABLED
     const bool do_throttle_slew = (control_mode->does_auto_throttle() || quadplane.in_assisted_flight() || quadplane.in_vtol_mode());
@@ -32,10 +32,7 @@ void Plane::throttle_slew_limit()
 
     if (!do_throttle_slew) {
         // only do throttle slew limiting in modes where throttle control is automatic
-        SRV_Channels::set_slew_rate(SRV_Channel::k_throttle,      0.0, 100, G_Dt);
-        SRV_Channels::set_slew_rate(SRV_Channel::k_throttleLeft,  0.0, 100, G_Dt);
-        SRV_Channels::set_slew_rate(SRV_Channel::k_throttleRight, 0.0, 100, G_Dt);
-        return;
+        return 0.0;
     }
 
     uint8_t slewrate = aparm.throttle_slewrate;
@@ -57,6 +54,13 @@ void Plane::throttle_slew_limit()
         slewrate = g.takeoff_throttle_slewrate;
     }
 #endif
+    return slewrate;
+}
+
+// Apply throttle slew limit
+void Plane::throttle_slew_limit()
+{
+    const float slewrate = get_throttle_slewrate();
     SRV_Channels::set_slew_rate(SRV_Channel::k_throttle,      slewrate, 100, G_Dt);
     SRV_Channels::set_slew_rate(SRV_Channel::k_throttleLeft,  slewrate, 100, G_Dt);
     SRV_Channels::set_slew_rate(SRV_Channel::k_throttleRight, slewrate, 100, G_Dt);

diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
@@ -336,7 +336,7 @@ void Tailsitter::output(void)
 
         if (!quadplane.assisted_flight) {
             // set AP_MotorsMatrix throttles for forward flight
-            motors->output_motor_mask(throttle, motor_mask, plane.rudder_dt);
+            motors->output_motor_mask(throttle, motor_mask, plane.rudder_dt, plane.get_throttle_slewrate());
 
             // No tilt output unless forward gain is set
             float tilt_left = 0.0;

diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp
@@ -246,7 +246,7 @@ void Tiltrotor::continuous_update(void)
         if (!quadplane.motor_test.running) {
             // the motors are all the way forward, start using them for fwd thrust
             const uint16_t mask = is_zero(current_throttle)?0U:tilt_mask.get();
-            motors->output_motor_mask(current_throttle, mask, plane.rudder_dt);
+            motors->output_motor_mask(current_throttle, mask, plane.rudder_dt, plane.get_throttle_slewrate());
         }
         return;
     }
@@ -367,7 +367,7 @@ void Tiltrotor::binary_update(void)
         if (current_tilt >= 1) {
             const uint16_t mask = is_zero(new_throttle)?0U:tilt_mask.get();
             // the motors are all the way forward, start using them for fwd thrust
-            motors->output_motor_mask(new_throttle, mask, plane.rudder_dt);
+            motors->output_motor_mask(new_throttle, mask, plane.rudder_dt, plane.get_throttle_slewrate());
         }
     } else {
         binary_slew(false);