mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
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/*
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AP_Motors.cpp - ArduCopter motors library
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Code by RandyMackay. DIYDrones.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include "AP_Motors.h"
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// parameters for the motor class
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const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
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AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio), // not used
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AP_GROUPEND
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};
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// Constructor
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AP_Motors::AP_Motors( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz ) :
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top_bottom_ratio(AP_MOTORS_TOP_BOTTOM_RATIO),
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_rc(rc_out),
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_rc_roll(rc_roll),
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_rc_pitch(rc_pitch),
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_rc_throttle(rc_throttle),
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_rc_yaw(rc_yaw),
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_speed_hz(speed_hz),
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_armed(false),
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_auto_armed(false),
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_frame_orientation(0),
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_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
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_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)
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{
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uint8_t i;
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// initialise motor map
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if( APM_version == AP_MOTORS_APM1 ) {
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set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
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} else {
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set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
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}
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// clear output arrays
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for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
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motor_out[i] = 0;
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}
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};
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// throttle_pass_through - passes throttle through to motors - dangerous but used for initialising ESCs
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void AP_Motors::throttle_pass_through() {
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if( armed() ) {
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for( int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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_rc->OutputCh(_motor_to_channel_map[i], _rc_throttle->radio_in);
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}
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}
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}
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