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AP_Motors: Tri: dont check yaw servo on plane

This commit is contained in:
Iampete1 2020-09-17 22:08:02 +01:00 committed by Andrew Tridgell
parent 7726848a50
commit 152e2366f0
2 changed files with 4 additions and 4 deletions
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7
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -35,13 +35,14 @@ void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_ty
motor_enabled[AP_MOTORS_MOT_2] = true; motor_enabled[AP_MOTORS_MOT_2] = true;
motor_enabled[AP_MOTORS_MOT_4] = true; motor_enabled[AP_MOTORS_MOT_4] = true;
#if !APM_BUILD_TYPE(APM_BUILD_ArduPlane) // Tilt Rotors do not need a yaw servo
// find the yaw servo // find the yaw servo
_yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, AP_MOTORS_CH_TRI_YAW); if (!SRV_Channels::get_channel_for(SRV_Channel::k_motor7, AP_MOTORS_CH_TRI_YAW)) {
if (!_yaw_servo) {
gcs().send_text(MAV_SEVERITY_ERROR, "MotorsTri: unable to setup yaw channel"); gcs().send_text(MAV_SEVERITY_ERROR, "MotorsTri: unable to setup yaw channel");
// don't set initialised_ok // don't set initialised_ok
return; return;
} }
#endif
// allow mapping of motor7 // allow mapping of motor7
add_motor_num(AP_MOTORS_CH_TRI_YAW); add_motor_num(AP_MOTORS_CH_TRI_YAW);
@ -67,7 +68,7 @@ void AP_MotorsTri::set_frame_class_and_type(motor_frame_class frame_class, motor
_pitch_reversed = false; _pitch_reversed = false;
} }
_flags.initialised_ok = (frame_class == MOTOR_FRAME_TRI); _flags.initialised_ok = (frame_class == MOTOR_FRAME_TRI) && SRV_Channels::function_assigned(SRV_Channel::k_motor7);
} }
// set update rate to motors - a value in hertz // set update rate to motors - a value in hertz

1
libraries/AP_Motors/AP_MotorsTri.h
View File

@ -63,7 +63,6 @@ protected:
// parameters // parameters
SRV_Channel *_yaw_servo; // yaw output channel
float _pivot_angle; // Angle of yaw pivot float _pivot_angle; // Angle of yaw pivot
float _thrust_right; float _thrust_right;
float _thrust_rear; float _thrust_rear;