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ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class. 

Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
This commit is contained in:
rmackay9 2012-04-04 22:58:42 +09:00
parent 00d540bfa9
commit 0f4203a755
1 changed files with 5 additions and 25 deletions
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30
ArduCopter/motors.pde
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@ -26,7 +26,7 @@ static void arm_motors()
arming_counter = 0; arming_counter = 0;
}else if (arming_counter == ARM_DELAY){ }else if (arming_counter == ARM_DELAY){
if(motor_armed == false){ if(motors.armed() == false){
// arm the motors and configure for flight // arm the motors and configure for flight
init_arm_motors(); init_arm_motors();
} }
@ -46,7 +46,7 @@ static void arm_motors()
arming_counter = 0; arming_counter = 0;
}else if (arming_counter == DISARM_DELAY){ }else if (arming_counter == DISARM_DELAY){
if(motor_armed == true){ if(motors.armed()){
// arm the motors and configure for flight // arm the motors and configure for flight
init_disarm_motors(); init_disarm_motors();
} }
@ -82,8 +82,7 @@ static void init_arm_motors()
if (gcs3.initialised) { if (gcs3.initialised) {
Serial3.set_blocking_writes(false); Serial3.set_blocking_writes(false);
} }
motors.armed(true);
motor_armed = true;
#if PIEZO_ARMING == 1 #if PIEZO_ARMING == 1
piezo_beep(); piezo_beep();
@ -130,7 +129,7 @@ static void init_disarm_motors()
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS")); gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
#endif #endif
motor_armed = false; motors.armed(false);
compass.save_offsets(); compass.save_offsets();
g.throttle_cruise.save(); g.throttle_cruise.save();
@ -149,25 +148,6 @@ static void init_disarm_motors()
static void static void
set_servos_4() set_servos_4()
{ {
if (motor_armed == true && motor_auto_armed == true) { motors.output();
// creates the radio_out and pwm_out values
output_motors_armed();
} else{
output_motors_disarmed();
}
}
int ch_of_mot( int mot ) {
switch (mot) {
case 1: return MOT_1;
case 2: return MOT_2;
case 3: return MOT_3;
case 4: return MOT_4;
case 5: return MOT_5;
case 6: return MOT_6;
case 7: return MOT_7;
case 8: return MOT_8;
}
return (-1);
} }