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Motor output ramp consistent for higher than minimum initial motor command #21690

Merged
merged 2 commits into from
Jun 10, 2023
Merged

Motor output ramp consistent for higher than minimum initial motor command #21690

merged 2 commits into from
Jun 10, 2023

Commits on Jun 6, 2023

  1. mixer_module: correct pwm ramp 

    Before:
When the mixed throttle for the motor was exactly zero the ramp went
from the disarmed PWM value to the minimum PWM value.

When the throttle was even just slightly different from zero the ramp
made a jump up to the commanded throttle scaled between
disarmed PWM and maximum PWM, then ramped between
disarmed PWM and minimum PWM and at the end jumped up again to
the commanded throttle scaled between minimum PWM and maximum PWM.

After:
The ramp goes from disarmed PWM value to the the
commanded throttle scaled between minimum PWM and maximum PWM.
If the commanded throttle changes during the ramp then the scale and
hence also end value of the ramp changes.
    @MaEtUgR
    MaEtUgR committed Jun 6, 2023
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  2. mixer_module: remove unnecessary init state 

    That state only delayed the first arming by 50 miliseconds.
Was presumably a workaround for some issue very very early on.
See cc45283
    @MaEtUgR
    MaEtUgR committed Jun 6, 2023
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