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multirotor mixer slew rate limiting: naming and fixes

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- avoid dividing by zero when calculating max delta output
- better comments when calculating max delta output
- better naming of functions and variables

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-09-27 14:42:15 +02:00
committed by Julian Oes
parent cced6fc8b2
commit c2a511d81d
5 changed files with 48 additions and 26 deletions
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src/modules/systemlib/mixer/mixer_group.cpp
+2 -2
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@@ -201,12 +201,12 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen)
return ret;
}
void MixerGroup::update_slew_rate(float slew_rate_max)
void MixerGroup::set_max_delta_out_once(float delta_out_max)
{
Mixer *mixer = _first;
while (mixer != nullptr) {
mixer->update_slew_rate(slew_rate_max);
mixer->set_max_delta_out_once(delta_out_max);
mixer = mixer->_next;
}
}