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

AP_MotorsHeli: Add min and max collective to manual servo modes

This commit is contained in:
Fredrik Hedberg 2015-10-13 19:39:58 +02:00 committed by Randy Mackay
parent 22729e6927
commit 212eb85ff2
2 changed files with 36 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -62,7 +62,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
// @Param: SV_MAN
// @DisplayName: Manual Servo Mode
// @Description: Manual servo override for swash set-up. Do not set this manually!
// @Values: 0:Disabled,1:Passthrough,2:Center
// @Values: 0:Disabled,1:Passthrough,2:Max collective,3:Mid collective,4:Min collective
// @User: Standard
AP_GROUPINFO("SV_MAN", 6, AP_MotorsHeli, _servo_mode, SERVO_CONTROL_MODE_AUTOMATED),
@ -247,19 +247,39 @@ void AP_MotorsHeli::output_armed_zero_throttle()
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
// if manual override (i.e. when setting up swash)
if (_servo_mode == SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH) {
// pass pilot commands straight through to swash
_roll_control_input = _roll_radio_passthrough;
_pitch_control_input = _pitch_radio_passthrough;
_throttle_control_input = _throttle_radio_passthrough;
_yaw_control_input = _yaw_radio_passthrough;
} else if (_servo_mode == SERVO_CONTROL_MODE_MANUAL_CENTER) {
// center and fixate the swash
_roll_control_input = 0;
_pitch_control_input = 0;
_throttle_control_input = 500;
_yaw_control_input = 0;
// manual override (i.e. when setting up swash)
switch (_servo_mode) {
case SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH:
// pass pilot commands straight through to swash
_roll_control_input = _roll_radio_passthrough;
_pitch_control_input = _pitch_radio_passthrough;
_throttle_control_input = _throttle_radio_passthrough;
_yaw_control_input = _yaw_radio_passthrough;
break;
case SERVO_CONTROL_MODE_MANUAL_CENTER:
// fixate mid collective
_roll_control_input = 0;
_pitch_control_input = 0;
_throttle_control_input = 500;
_yaw_control_input = 0;
break;
case SERVO_CONTROL_MODE_MANUAL_MAX:
// fixate max collective
_roll_control_input = 0;
_pitch_control_input = 0;
_throttle_control_input = 1000;
_yaw_control_input = 0;
break;
case SERVO_CONTROL_MODE_MANUAL_MIN:
// fixate min collective
_roll_control_input = 0;
_pitch_control_input = 0;
_throttle_control_input = 0;
_yaw_control_input = 0;
break;
default:
// no manual override
break;
}
// ensure swash servo endpoints haven't been moved

2
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -160,7 +160,9 @@ public:
enum ServoControlModes {
SERVO_CONTROL_MODE_AUTOMATED,
SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH,
SERVO_CONTROL_MODE_MANUAL_MAX,
SERVO_CONTROL_MODE_MANUAL_CENTER,
SERVO_CONTROL_MODE_MANUAL_MIN,
};
// supports_yaw_passthrough