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AP_MotorsMatrix: get rid of _motor_to_channel_map

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This commit is contained in:
Lucas De Marchi 2015-09-29 12:00:50 +09:00 committed by Randy Mackay
parent 43268b9822
commit 1572c9d4f4
1 changed files with 9 additions and 9 deletions
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18
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -37,7 +37,7 @@ void AP_MotorsMatrix::Init()
// set update rate to motors - a value in hertz
void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
{
int8_t i;
uint8_t i;
// record requested speed
_speed_hz = speed_hz;
@ -46,7 +46,7 @@ void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
uint32_t mask = 0;
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
mask |= 1U << pgm_read_byte(&_motor_to_channel_map[i]);
mask |= 1U << i;
}
}
hal.rcout->set_freq( mask, _speed_hz );
@ -78,7 +78,7 @@ void AP_MotorsMatrix::enable()
// enable output channels
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[i]));
hal.rcout->enable_ch(i);
}
}
}
@ -97,7 +97,7 @@ void AP_MotorsMatrix::output_min()
// fill the motor_out[] array for HIL use and send minimum value to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), _throttle_radio_min);
hal.rcout->write(i, _throttle_radio_min);
}
}
}
@ -117,7 +117,7 @@ uint16_t AP_MotorsMatrix::get_motor_mask()
void AP_MotorsMatrix::output_armed_not_stabilizing()
{
int8_t i;
uint8_t i;
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final outputs sent to the motors
int16_t out_min_pwm = _throttle_radio_min + _min_throttle; // minimum pwm value we can send to the motors
@ -161,7 +161,7 @@ void AP_MotorsMatrix::output_armed_not_stabilizing()
// send output to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), motor_out[i]);
hal.rcout->write(i, motor_out[i]);
}
}
}
@ -357,7 +357,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
// send output to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), motor_out[i]);
hal.rcout->write(i, motor_out[i]);
}
}
}
@ -383,7 +383,7 @@ void AP_MotorsMatrix::output_test(uint8_t motor_seq, int16_t pwm)
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i] && _test_order[i] == motor_seq) {
// turn on this motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), pwm);
hal.rcout->write(i, pwm);
}
}
}
@ -408,7 +408,7 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
_test_order[motor_num] = testing_order;
// disable this channel from being used by RC_Channel_aux
RC_Channel_aux::disable_aux_channel(_motor_to_channel_map[motor_num]);
RC_Channel_aux::disable_aux_channel(motor_num);
}
}