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AP_Motors: Tradheli-corrected get_motor_mask method

This commit is contained in:
bnsgeyer 2018-07-11 15:45:59 -04:00 committed by Andrew Tridgell
parent dec8c5de77
commit 0f75866042
2 changed files with 23 additions and 10 deletions
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18
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
View File

@ -169,13 +169,10 @@ void AP_MotorsHeli_Dual::set_update_rate( uint16_t speed_hz )
_speed_hz = speed_hz;
// setup fast channels
uint32_t mask =
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 |
1U << AP_MOTORS_MOT_5 |
1U << AP_MOTORS_MOT_6;
uint16_t mask = 0;
for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
mask |= 1U << (AP_MOTORS_MOT_1+i);
}
rc_set_freq(mask, _speed_hz);
}
@ -376,7 +373,12 @@ void AP_MotorsHeli_Dual::calculate_roll_pitch_collective_factors()
uint16_t AP_MotorsHeli_Dual::get_motor_mask()
{
// dual heli uses channels 1,2,3,4,5,6 and 8
return (1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << 4 | 1U << 5 | 1U << 6 | 1U << AP_MOTORS_HELI_DUAL_RSC);
uint16_t mask = 0;
for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
mask |= 1U << (AP_MOTORS_MOT_1+i);
}
mask |= 1U << AP_MOTORS_HELI_DUAL_RSC;
return mask;
}
// update_motor_controls - sends commands to motor controllers

15
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -347,8 +347,19 @@ void AP_MotorsHeli_Single::calculate_roll_pitch_collective_factors()
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsHeli_Single::get_motor_mask()
{
// heli uses channels 1,2,3,4,7 and 8
return rc_map_mask(1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_EXTGYRO | 1U << AP_MOTORS_HELI_SINGLE_RSC);
// heli uses channels 1,2,3,4 and 8
// setup fast channels
uint32_t mask = 1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_RSC;
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
mask |= 1U << AP_MOTORS_HELI_SINGLE_EXTGYRO;
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
mask |= 1U << AP_MOTORS_HELI_SINGLE_TAILRSC;
}
return rc_map_mask(mask);
}
// update_motor_controls - sends commands to motor controllers