// Constructor
AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz) :
AP_Motors(loop_rate, speed_hz),
_spool_mode(SHUT_DOWN),
_spin_up_ratio(0.0f),
_batt_voltage_resting(0.0f),
_batt_current_resting(0.0f),
_batt_resistance(0.0f),
_batt_timer(0),
_lift_max(1.0f),
_throttle_limit(1.0f),
_throttle_thrust_max(0.0f),
_disarm_safety_timer(0)
{
AP_Param::setup_object_defaults(this, var_info);
// disable all motors by default
memset(motor_enabled, false, sizeof(motor_enabled));
// setup battery voltage filtering
_batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f);
// default throttle ranges (i.e. _throttle_radio_min, _throttle_radio_max)
set_throttle_range(1100, 1900);
};
// Constructor
AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz) :
AP_Motors(loop_rate, speed_hz),
_throttle_rpy_mix_desired(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_throttle_rpy_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE),
_batt_voltage_resting(0.0f),
_batt_current_resting(0.0f),
_batt_resistance(0.0f),
_batt_timer(0),
_lift_max(1.0f),
_throttle_limit(1.0f)
{
AP_Param::setup_object_defaults(this, var_info);
// disable all motors by default
memset(motor_enabled, false, sizeof(motor_enabled));
// setup battery voltage filtering
_batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f);
// default throttle ranges (i.e. _min_throttle, _throttle_radio_min, _throttle_radio_max)
set_throttle_range(130, 1100, 1900);
};