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Rover: add setup_servo_output to allow ouput reconfiguration

This commit is contained in:
khancyr 2017-07-06 12:01:53 +02:00 committed by Randy Mackay
parent 38dcc2eb12
commit 1f0c985dec
3 changed files with 21 additions and 10 deletions
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25
APMrover2/AP_MotorsUGV.cpp
View File

@ -65,15 +65,8 @@ AP_MotorsUGV::AP_MotorsUGV(AP_ServoRelayEvents &relayEvents) :
void AP_MotorsUGV::init()
{
// k_steering are limited to -45;45 degree
SRV_Channels::set_angle(SRV_Channel::k_steering, SERVO_MAX);
// k_throttle are in power percent so -100 ... 100
SRV_Channels::set_angle(SRV_Channel::k_throttle, 100);
// skid steering left/right throttle as -1000 to 1000 values
SRV_Channels::set_angle(SRV_Channel::k_throttleLeft, 1000);
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 1000);
// setup servo ouput
setup_servo_output();
// setup pwm type
setup_pwm_type();
@ -215,6 +208,20 @@ void AP_MotorsUGV::slew_limit_throttle(float dt)
}
}
// setup servo output
void AP_MotorsUGV::setup_servo_output()
{
// k_steering are limited to -45;45 degree
SRV_Channels::set_angle(SRV_Channel::k_steering, SERVO_MAX);
// k_throttle are in power percent so -100 ... 100
SRV_Channels::set_angle(SRV_Channel::k_throttle, 100);
// skid steering left/right throttle as -1000 to 1000 values
SRV_Channels::set_angle(SRV_Channel::k_throttleLeft, 1000);
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 1000);
}
// setup pwm output type
void AP_MotorsUGV::setup_pwm_type()
{

2
APMrover2/AP_MotorsUGV.h
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@ -24,6 +24,8 @@ public:
// setup output in case of main CPU failure
void setup_safety_output();
void setup_servo_output();
// set steering as a value from -4500 to +4500
float get_steering() const { return _steering; }
void set_steering(float steering) { _steering = steering; }

4
APMrover2/radio.cpp
View File

@ -14,8 +14,10 @@ void Rover::set_control_channels(void)
channel_steer->set_angle(SERVO_MAX);
channel_throttle->set_angle(100);
// For a rover safety is TRIM throttle
// Allow to reconfigure ouput when not armed
if (!arming.is_armed()) {
g2.motors.setup_servo_output();
// For a rover safety is TRIM throttle
g2.motors.setup_safety_output();
}
// setup correct scaling for ESCs like the UAVCAN PX4ESC which