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ArduCopter - radio.pde - changed motor initialisation to set update rate, frame orientation, min and max throttle to AP_Motors class.

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Note: perhaps the motors speed at least should be moved to a parameter within the motors class.
output_min function greatly simplified as this is handled by the AP_Motors class.
This commit is contained in:
rmackay9 2012-04-04 23:00:56 +09:00
parent 0f4203a755
commit 1701cac0b1
1 changed files with 13 additions and 25 deletions
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38
ArduCopter/radio.pde
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@ -47,7 +47,15 @@ static void init_rc_in()
static void init_rc_out()
{
APM_RC.Init( &isr_registry ); // APM Radio initialization
init_motors_out();
#if INSTANT_PWM == 1
motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
#else
motors.set_update_rate(g.rc_speed);
#endif
motors.set_frame_orientation(g.frame_orientation);
motors.Init(); // motor initialisation
motors.set_min_throttle(MINIMUM_THROTTLE);
motors.set_max_throttle(MAXIMUM_THROTTLE);
// this is the camera pitch5 and roll6
APM_RC.OutputCh(CH_CAM_PITCH, 1500);
@ -69,7 +77,7 @@ static void init_rc_out()
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(1);
// send miinimum throttle out to ESC
output_min();
motors.output_min();
// block until we restart
while(1){
//Serial.println("esc");
@ -95,28 +103,8 @@ static void init_rc_out()
void output_min()
{
motors_output_enable();
#if FRAME_CONFIG == HELI_FRAME
heli_move_servos_to_mid();
#else
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); // Initialization of servo outputs
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
#endif
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
#if FRAME_CONFIG == TRI_FRAME
APM_RC.OutputCh(CH_TRI_YAW, g.rc_4.radio_trim); // Yaw servo middle position
#endif
#if FRAME_CONFIG == OCTA_FRAME
APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
#endif
motors.enable();
motors.output_min();
}
static void read_radio()
{
@ -158,7 +146,7 @@ static void throttle_failsafe(uint16_t pwm)
// Don't enter Failsafe if we are not armed
// home distance is in meters
// This is to prevent accidental RTL
if((motor_armed == true) && (home_distance > 1000)){
if(motors.armed() && (home_distance > 1000)){
SendDebug("MSG FS ON ");
SendDebugln(pwm, DEC);
set_failsafe(true);