Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: Support changing update period in Motors

This commit is contained in:
Leonard Hall 2022-12-05 16:56:32 +10:30 committed by Peter Barker
parent 231fc2b18b
commit 16ccdeb058
1 changed files with 7 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduPlane/quadplane.cpp
View File

@ -682,12 +682,12 @@ bool QuadPlane::setup(void)
switch ((AP_Motors::motor_frame_class)frame_class) {
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors = new AP_MotorsTri(rc_speed);
motors_var_info = AP_MotorsTri::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
// this is a duo-motor tailsitter
tailsitter.tailsitter_motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
tailsitter.tailsitter_motors = new AP_MotorsTailsitter(rc_speed);
motors = tailsitter.tailsitter_motors;
motors_var_info = AP_MotorsTailsitter::var_info;
break;
@ -698,7 +698,7 @@ bool QuadPlane::setup(void)
#endif // AP_SCRIPTING_ENABLED
break;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors = new AP_MotorsMatrix(rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;
break;
}
@ -1986,8 +1986,10 @@ void QuadPlane::motors_output(bool run_rate_controller)
relax_attitude_control();
}
// run low level rate controllers that only require IMU data and set loop time
attitude_control->set_dt(AP::scheduler().get_last_loop_time_s());
pos_control->set_dt(AP::scheduler().get_last_loop_time_s());
const float last_loop_time_s = AP::scheduler().get_last_loop_time_s();
motors->set_dt(last_loop_time_s);
attitude_control->set_dt(last_loop_time_s);
pos_control->set_dt(last_loop_time_s);
attitude_control->rate_controller_run();
last_att_control_ms = now;
}