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AP_Motors: fixed default motor functions for single and coax copter 

should be enabling motors 5 and 6 to match docs and SITL
This commit is contained in:
Andrew Tridgell 2018-05-21 11:08:27 +10:00
parent f6c06496e2
commit 216bab4de4
2 changed files with 7 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsCoax.cpp
View File

@ -50,6 +50,10 @@ void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_t
_servo3->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE); _servo3->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo4->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE); _servo4->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
// allow mapping of motors 5 and 6
add_motor_num(CH_5);
add_motor_num(CH_6);
// record successful initialisation if what we setup was the desired frame_class // record successful initialisation if what we setup was the desired frame_class
_flags.initialised_ok = (frame_class == MOTOR_FRAME_COAX); _flags.initialised_ok = (frame_class == MOTOR_FRAME_COAX);
} }

5
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -53,8 +53,9 @@ void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame
_servo3->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo3->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo4->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo4->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
// allow mapping of motor7 // allow mapping of motors 5 and 6
add_motor_num(CH_7); add_motor_num(CH_5);
add_motor_num(CH_6);
// record successful initialisation if what we setup was the desired frame_class // record successful initialisation if what we setup was the desired frame_class
_flags.initialised_ok = (frame_class == MOTOR_FRAME_SINGLE); _flags.initialised_ok = (frame_class == MOTOR_FRAME_SINGLE);