Plane: slew limit all throttles in one place

ArduPilot · Nov 19, 2024 · 52efe95 · 52efe95
1 parent c415c7f
commit 52efe95
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -1159,7 +1159,7 @@ 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);
-    void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
+    void throttle_slew_limit();
     bool suppress_throttle(void);
     void update_throttle_hover();
     void channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, SRV_Channel::Aux_servo_function_t func2_in,

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -22,7 +22,7 @@
 /*****************************************
 * Throttle slew limit
 *****************************************/
-void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
+void Plane::throttle_slew_limit()
 {
 #if HAL_QUADPLANE_ENABLED
     const bool do_throttle_slew = (control_mode->does_auto_throttle() || quadplane.in_assisted_flight() || quadplane.in_vtol_mode());
@@ -32,7 +32,9 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
 
     if (!do_throttle_slew) {
         // only do throttle slew limiting in modes where throttle control is automatic
-        SRV_Channels::set_slew_rate(func, 0.0, 100, G_Dt);
+        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;
     }
 
@@ -55,7 +57,9 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
         slewrate = g.takeoff_throttle_slewrate;
     }
 #endif
-    SRV_Channels::set_slew_rate(func, slewrate, 100, G_Dt);
+    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);
 }
 
 /* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
@@ -793,8 +797,6 @@ void Plane::servos_twin_engine_mix(void)
     } else {
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left);
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right);
-        throttle_slew_limit(SRV_Channel::k_throttleLeft);
-        throttle_slew_limit(SRV_Channel::k_throttleRight);
     }
 }
 
@@ -913,7 +915,7 @@ void Plane::set_servos(void)
     airbrake_update();
 
     // slew rate limit throttle
-    throttle_slew_limit(SRV_Channel::k_throttle);
+    throttle_slew_limit();
 
     int8_t min_throttle = 0;
 #if AP_ICENGINE_ENABLED