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Motors: Use _motor_to_channel_map in tricopter consistently. 

In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are
always mapped to actual output channels through _motor_to_channel_map
while the _CH_TRI_YAW is not, but there were a few inconsistencies
in this that could lead to things like PWM min and max values being
set on wrong channels.

It looks like all in all _motor_to_channel_map being in PROGMEM
probably doesn't help save memory and I'm not sure how useful it is
in the first place but regardless the usage should be consistent.
This commit is contained in:
Andrzej Zaborowski 2015-04-06 01:25:27 +02:00 committed by Randy Mackay
parent d589c591a6
commit 132cdc4916
4 changed files with 9 additions and 6 deletions
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2
libraries/AP_Motors/AP_MotorsHexa.h
View File

@ -19,7 +19,7 @@ public:
AP_MotorsHexa(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
};
// setup_motors - configures the motors for a quad
// setup_motors - configures the motors for a hexa
virtual void setup_motors();
protected:

2
libraries/AP_Motors/AP_MotorsOcta.h
View File

@ -19,7 +19,7 @@ public:
AP_MotorsOcta(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
};
// setup_motors - configures the motors for a quad
// setup_motors - configures the motors for an octa
virtual void setup_motors();
protected:

9
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -77,7 +77,7 @@ void AP_MotorsTri::output_min()
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);
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _rc_yaw.radio_trim);
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
@ -85,7 +85,10 @@ void AP_MotorsTri::output_min()
uint16_t AP_MotorsTri::get_motor_mask()
{
// tri copter uses channels 1,2,4 and 7
return (1U << 0 | 1U << 1 | 1U << 3 | 1U << AP_MOTORS_CH_TRI_YAW);
return (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])) |
(1U << AP_MOTORS_CH_TRI_YAW);
}
// output_armed - sends commands to the motors
@ -226,7 +229,7 @@ void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
break;
case 3:
// back servo
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), pwm);
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, pwm);
break;
case 4:
// front left motor

2
libraries/AP_Motors/AP_MotorsY6.h
View File

@ -21,7 +21,7 @@ public:
AP_MotorsY6(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz) {
};
// setup_motors - configures the motors for a quad
// setup_motors - configures the motors for a Y6
virtual void setup_motors();
protected: