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

AP_MotorsHeli: Overload output_armed_zero_throttle

This commit is contained in:
Robert Lefebvre 2015-04-28 14:56:04 -04:00 committed by Randy Mackay
parent 6bdace30d2
commit 1a482de5e2
2 changed files with 13 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -260,7 +260,7 @@ void AP_MotorsHeli::enable()
hal.rcout->enable_ch(AP_MOTORS_HELI_RSC); // output for main rotor esc
}
// output_min - sends minimum values out to the motors
// output_min - sets servos to neutral point
void AP_MotorsHeli::output_min()
{
// move swash to mid
@ -377,7 +377,7 @@ uint16_t AP_MotorsHeli::get_motor_mask()
void AP_MotorsHeli::output_armed_not_stabilizing()
{
// call output_armed_stabilizing
// stabilizing servos always operate for helicopters
output_armed_stabilizing();
}
@ -403,10 +403,18 @@ void AP_MotorsHeli::output_armed_stabilizing()
rsc_control();
}
// output_armed_zero_throttle - sends commands to the motors
void AP_MotorsHeli::output_armed_zero_throttle()
{
// stabilizing servos always operate for helicopters
// ToDo: Bring RSC Master On/Off into this function
output_armed_stabilizing();
}
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
// for helis - armed or disarmed we allow servos to move
// stabilizing servos always operate for helicopters
output_armed_stabilizing();
}

3
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -139,7 +139,7 @@ public:
// enable - starts allowing signals to be sent to motors
void enable();
// output_min - sends minimum values out to the motors
// output_min - sets servos to neutral point
void output_min();
// output_test - spin a motor at the pwm value specified
@ -210,6 +210,7 @@ protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_not_stabilizing();
void output_armed_zero_throttle();
void output_disarmed();
private: