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Copter: rename FRAME to FRAME_TYPE 

This unifies the plane and copter parameter names
This commit is contained in:
Randy Mackay 2016-12-15 10:26:36 +09:00
parent 934ef55338
commit 12d024e0c6
4 changed files with 8 additions and 8 deletions
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2
ArduCopter/ArduCopter.cpp
View File

@ -490,7 +490,7 @@ void Copter::one_hz_loop()
update_using_interlock();
// check the user hasn't updated the frame class or type
motors.set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get());
motors.set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
#if FRAME_CONFIG != HELI_FRAME
// set all throttle channel settings

8
ArduCopter/Parameters.cpp
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@ -385,12 +385,12 @@ const AP_Param::Info Copter::var_info[] = {
// @Range: 0 32767
GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000),
// @Param: FRAME
// @DisplayName: Frame Orientation (+, X or V)
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X, V, etc)
// @Description: Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B (New)
// @User: Standard
GSCALAR(frame_orientation, "FRAME", AP_Motors::MOTOR_FRAME_TYPE_X),
GSCALAR(frame_type, "FRAME_TYPE", AP_Motors::MOTOR_FRAME_TYPE_X),
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
@ -1175,7 +1175,7 @@ void Copter::convert_pid_parameters(void)
#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
if (g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_H) {
if (g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_type == AP_Motors::MOTOR_FRAME_TYPE_H) {
pid_scaler = 0.9f;
}
#endif

4
ArduCopter/Parameters.h
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@ -236,7 +236,7 @@ public:
k_param_compass_enabled,
k_param_compass,
k_param_rangefinder_enabled_old, // deprecated
k_param_frame_orientation,
k_param_frame_type,
k_param_optflow_enabled, // deprecated
k_param_fs_batt_voltage,
k_param_ch7_option,
@ -441,7 +441,7 @@ public:
AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high;
AP_Int16 radio_tuning_low;
AP_Int8 frame_orientation;
AP_Int8 frame_type;
AP_Int8 ch7_option;
AP_Int8 ch8_option;
AP_Int8 ch9_option;

2
ArduCopter/radio.cpp
View File

@ -57,7 +57,7 @@ void Copter::init_rc_out()
motors.set_update_rate(g.rc_speed);
motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get());
motors.init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
#if FRAME_CONFIG != HELI_FRAME
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif