Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsMulticopter: add roll, pitch, throttle and yaw pass through

This commit is contained in:
Leonard Hall 2016-01-20 17:50:57 +09:00 committed by Randy Mackay
parent d7c27c949c
commit 06f25b669d
2 changed files with 18 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -554,3 +554,12 @@ void AP_MotorsMulticopter::throttle_pass_through(int16_t pwm)
hal.rcout->push(); hal.rcout->push();
} }
} }
// set_radio_passthrough used to pass radio inputs directly to outputs
void AP_MotorsMulticopter::set_radio_passthrough(float radio_roll_input, float radio_pitch_input, float radio_throttle_input, float radio_yaw_input)
{
_roll_radio_passthrough = radio_roll_input;
_pitch_radio_passthrough = radio_pitch_input;
_throttle_radio_passthrough = radio_throttle_input;
_yaw_radio_passthrough = radio_yaw_input;
}

9
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -173,6 +173,9 @@ protected:
// spin when armed as a percentage of the 0~1 range from 0 to throttle_min // spin when armed as a percentage of the 0~1 range from 0 to throttle_min
float spin_when_armed_low_end_pct() { return (float)_spin_when_armed.get() / _min_throttle; } float spin_when_armed_low_end_pct() { return (float)_spin_when_armed.get() / _min_throttle; }
// spin when armed as a percentage of the 0~1 range from 0 to throttle_min
void set_radio_passthrough(float radio_roll_input, float radio_pitch_input, float radio_throttle_input, float radio_yaw_input);
// flag bitmask // flag bitmask
struct { struct {
spool_up_down_mode spool_mode : 4; // motor's current spool mode spool_up_down_mode spool_mode : 4; // motor's current spool mode
@ -214,4 +217,10 @@ protected:
int16_t _batt_timer; // timer used in battery resistance calcs int16_t _batt_timer; // timer used in battery resistance calcs
float _lift_max; // maximum lift ratio from battery voltage float _lift_max; // maximum lift ratio from battery voltage
float _throttle_limit; // ratio of throttle limit between hover and maximum float _throttle_limit; // ratio of throttle limit between hover and maximum
// pass through variables
float _roll_radio_passthrough = 0; // roll control PWM direct from radio, used for manual control
float _pitch_radio_passthrough = 0; // pitch control PWM direct from radio, used for manual control
float _throttle_radio_passthrough = 0; // throttle control PWM direct from radio, used for manual control
float _yaw_radio_passthrough = 0; // yaw control PWM direct from radio, used for manual control
}; };