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

AP_MotorsTri: motor_to_channel_map moved to progmem

This commit is contained in:
Randy Mackay 2014-02-10 15:59:02 +09:00 committed by Andrew Tridgell
parent 96d433c63e
commit 0edf039155
1 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -51,9 +51,9 @@ void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
// set update rate for the 3 motors (but not the servo on channel 7)
uint32_t mask =
1U << _motor_to_channel_map[AP_MOTORS_MOT_1] |
1U << _motor_to_channel_map[AP_MOTORS_MOT_2] |
1U << _motor_to_channel_map[AP_MOTORS_MOT_4];
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]);
hal.rcout->set_freq(mask, _speed_hz);
}
@ -61,9 +61,9 @@ void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
void AP_MotorsTri::enable()
{
// enable output channels
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_1]);
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_2]);
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_4]);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]));
hal.rcout->enable_ch(AP_MOTORS_CH_TRI_YAW);
}
@ -74,10 +74,10 @@ void AP_MotorsTri::output_min()
limit.throttle_lower = true;
// send minimum value to each motor
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle.radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle.radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle.radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW]), _rc_yaw.radio_trim);
}
// output_armed - sends commands to the motors
@ -163,9 +163,9 @@ void AP_MotorsTri::output_armed()
}
// send output to each motor
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]);
// also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value)
// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
@ -191,19 +191,19 @@ void AP_MotorsTri::output_test()
// Send minimum values to all motors
output_min();
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _rc_throttle.radio_min);
hal.scheduler->delay(4000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle.radio_min + _min_throttle);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _rc_throttle.radio_min);
hal.scheduler->delay(2000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle.radio_min + _min_throttle);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle.radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min);
hal.scheduler->delay(2000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle.radio_min + _min_throttle);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
// Send minimum values to all motors