From d71b08af0c058888e30126f0f874aa80077d5c5e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 18 Oct 2014 20:54:08 +0900
Subject: [PATCH] AP_Motors: reduce slow-start increment for fast CPUs
---
libraries/AP_Motors/AP_Motors_Class.h | 14 ++++++++++----
1 file changed, 10 insertions(+), 4 deletions(-)
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index befa01a1d..315925ac1 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -61,10 +61,16 @@
#define AP_MOTOR_THROTTLE_LIMIT 0x04
#define AP_MOTOR_ANY_LIMIT 0xFF
-// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
-#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 2 seconds)
-#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
-
+// To-Do: replace this hard coded counter with a timer
+#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+ // slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
+ #define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 1 second)
+ #define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
+#else
+ // slow start increments - throttle increase per (400hz) iteration. i.e. 1 = full speed in 2.5 seconds
+ #define AP_MOTOR_SLOW_START_INCREMENT 3 // max throttle ramp speed (i.e. motors can reach full throttle in 0.8 seconds)
+ #define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 1 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 0.3 second)
+#endif
/// @class AP_Motors
class AP_Motors {
public:
--
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