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Copter: default FRAME_CLASS

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This commit is contained in:
Randy Mackay 2016-12-14 11:30:13 +09:00
parent 0ac00dbfd6
commit 217757fdc8
3 changed files with 34 additions and 0 deletions
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1
ArduCopter/Copter.h
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@ -1083,6 +1083,7 @@ private:
void update_auto_armed(); void update_auto_armed();
void check_usb_mux(void); void check_usb_mux(void);
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
void set_default_frame_class();
uint8_t get_frame_mav_type(); uint8_t get_frame_mav_type();
const char* get_frame_string(); const char* get_frame_string();
bool current_mode_has_user_takeoff(bool must_navigate); bool current_mode_has_user_takeoff(bool must_navigate);

3
ArduCopter/radio.cpp
View File

@ -52,6 +52,9 @@ void Copter::init_rc_in()
// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration // init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
void Copter::init_rc_out() void Copter::init_rc_out()
{ {
// default frame class to match firmware if possible
set_default_frame_class();
motors.set_update_rate(g.rc_speed); motors.set_update_rate(g.rc_speed);
motors.set_loop_rate(scheduler.get_loop_rate_hz()); motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get()); motors.init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get());

30
ArduCopter/system.cpp
View File

@ -460,6 +460,36 @@ bool Copter::should_log(uint32_t mask)
#endif #endif
} }
// default frame_class to match firmware if possible
void Copter::set_default_frame_class()
{
switch (FRAME_CONFIG) {
case QUAD_FRAME:
case HEXA_FRAME:
case OCTA_FRAME:
case OCTA_QUAD_FRAME:
case Y6_FRAME:
// reset frame_class to undefined if firmware does not match
// Note: this assumes that Y6 is the highest numbered frame to be supported by the AP_Motors_Matrix class
if (g2.frame_class > AP_Motors::MOTOR_FRAME_Y6) {
g2.frame_class = AP_Motors::MOTOR_FRAME_UNDEFINED;
}
break;
case TRI_FRAME:
g2.frame_class = AP_Motors::MOTOR_FRAME_TRI;
break;
case HELI_FRAME:
g2.frame_class = AP_Motors::MOTOR_FRAME_HELI;
break;
case SINGLE_FRAME:
g2.frame_class = AP_Motors::MOTOR_FRAME_SINGLE;
break;
case COAX_FRAME:
g2.frame_class = AP_Motors::MOTOR_FRAME_COAX;
break;
}
}
// return MAV_TYPE corresponding to frame class // return MAV_TYPE corresponding to frame class
uint8_t Copter::get_frame_mav_type() uint8_t Copter::get_frame_mav_type()
{ {