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TradHeli: motor_to_channel_map moved to progmem

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Randy Mackay 2014-02-10 15:59:39 +09:00 committed by Andrew Tridgell
parent 1bee56877c
commit 134289af38
1 changed files with 24 additions and 24 deletions
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48
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -241,10 +241,10 @@ void AP_MotorsHeli::set_update_rate( uint16_t speed_hz )
// setup fast channels
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_3] |
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_3]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]);
hal.rcout->set_freq(mask, _speed_hz);
}
@ -252,10 +252,10 @@ void AP_MotorsHeli::set_update_rate( uint16_t speed_hz )
void AP_MotorsHeli::enable()
{
// enable output channels
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_1]); // swash servo 1
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_2]); // swash servo 2
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_3]); // swash servo 3
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_4]); // yaw
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1])); // swash servo 1
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2])); // swash servo 2
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3])); // swash servo 3
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4])); // yaw
hal.rcout->enable_ch(AP_MOTORS_HELI_AUX); // output for gyro gain or direct drive variable pitch tail motor
hal.rcout->enable_ch(AP_MOTORS_HELI_RSC); // output for main rotor esc
}
@ -283,31 +283,31 @@ void AP_MotorsHeli::output_test()
// servo 1
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1.radio_trim + 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo_1.radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1.radio_trim - 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo_1.radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1.radio_trim + 0);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo_1.radio_trim + 0);
hal.scheduler->delay(300);
}
// servo 2
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2.radio_trim + 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo_2.radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2.radio_trim - 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo_2.radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2.radio_trim + 0);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo_2.radio_trim + 0);
hal.scheduler->delay(300);
}
// servo 3
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3.radio_trim + 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo_3.radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3.radio_trim - 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo_3.radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3.radio_trim + 0);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo_3.radio_trim + 0);
hal.scheduler->delay(300);
}
@ -318,11 +318,11 @@ void AP_MotorsHeli::output_test()
// servo 4
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4.radio_trim + 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo_4.radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4.radio_trim - 100);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo_4.radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4.radio_trim + 0);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo_4.radio_trim + 0);
hal.scheduler->delay(300);
}
@ -631,10 +631,10 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
_servo_4.calc_pwm();
// actually move the servos
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1.radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2.radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3.radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo_1.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo_2.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo_3.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo_4.radio_out);
// output gain to exernal gyro
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {