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AP_MotorsHeli: Change servo manual #defines into enum

This commit is contained in:
Robert Lefebvre 2015-10-14 14:57:51 -04:00 committed by Randy Mackay
parent 750728fa1e
commit 22729e6927
3 changed files with 17 additions and 15 deletions
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16
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -64,7 +64,7 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
// @Description: Manual servo override for swash set-up. Do not set this manually!
// @Values: 0:Disabled,1:Passthrough,2:Center
// @User: Standard
AP_GROUPINFO("SV_MAN", 6, AP_MotorsHeli, _servo_manual, AP_MOTORS_HELI_MANUAL_OFF),
AP_GROUPINFO("SV_MAN", 6, AP_MotorsHeli, _servo_mode, SERVO_CONTROL_MODE_AUTOMATED),
// @Param: GOV_SETPOINT
// @DisplayName: External Motor Governor Setpoint
@ -162,7 +162,7 @@ void AP_MotorsHeli::Init()
set_update_rate(_speed_hz);
// ensure inputs are not passed through to servos on start-up
_servo_manual = AP_MOTORS_HELI_MANUAL_OFF;
_servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
// initialise Servo/PWM ranges and endpoints
init_outputs();
@ -209,7 +209,7 @@ void AP_MotorsHeli::output()
void AP_MotorsHeli::output_armed_stabilizing()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
if (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED) {
reset_flight_controls();
}
@ -221,7 +221,7 @@ void AP_MotorsHeli::output_armed_stabilizing()
void AP_MotorsHeli::output_armed_not_stabilizing()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
if (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED) {
reset_flight_controls();
}
@ -235,7 +235,7 @@ void AP_MotorsHeli::output_armed_not_stabilizing()
void AP_MotorsHeli::output_armed_zero_throttle()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
if (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED) {
reset_flight_controls();
}
@ -248,13 +248,13 @@ void AP_MotorsHeli::output_armed_zero_throttle()
void AP_MotorsHeli::output_disarmed()
{
// if manual override (i.e. when setting up swash)
if (_servo_manual == AP_MOTORS_HELI_MANUAL_PASSTHROUGH) {
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_manual == AP_MOTORS_HELI_MANUAL_CENTER) {
} else if (_servo_mode == SERVO_CONTROL_MODE_MANUAL_CENTER) {
// center and fixate the swash
_roll_control_input = 0;
_pitch_control_input = 0;
@ -354,7 +354,7 @@ void AP_MotorsHeli::reset_radio_passthrough()
void AP_MotorsHeli::reset_flight_controls()
{
reset_radio_passthrough();
_servo_manual = AP_MOTORS_HELI_MANUAL_OFF;
_servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
init_outputs();
calculate_scalars();
}

14
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -54,11 +54,6 @@
#define AP_MOTORS_HELI_NOFLYBAR 0
#define AP_MOTORS_HELI_FLYBAR 1
// manual servo modes (used for setup)
#define AP_MOTORS_HELI_MANUAL_OFF 0
#define AP_MOTORS_HELI_MANUAL_PASSTHROUGH 1
#define AP_MOTORS_HELI_MANUAL_CENTER 2
class AP_HeliControls;
/// @class AP_MotorsHeli
@ -161,6 +156,13 @@ public:
// output - sends commands to the motors
void output();
// manual servo modes (used for setup)
enum ServoControlModes {
SERVO_CONTROL_MODE_AUTOMATED,
SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH,
SERVO_CONTROL_MODE_MANUAL_CENTER,
};
// supports_yaw_passthrough
virtual bool supports_yaw_passthrough() const { return false; }
@ -204,7 +206,7 @@ protected:
AP_Int16 _collective_min; // Lowest possible servo position for the swashplate
AP_Int16 _collective_max; // Highest possible servo position for the swashplate
AP_Int16 _collective_mid; // Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)
AP_Int8 _servo_manual; // Pass radio inputs directly to servos during set-up through mission planner
AP_Int8 _servo_mode; // Pass radio inputs directly to servos during set-up through mission planner
AP_Int16 _rsc_setpoint; // rotor speed when RSC mode is set to is enabledv
AP_Int8 _rsc_mode; // Which main rotor ESC control mode is active
AP_Int8 _rsc_ramp_time; // Time in seconds for the output to the main rotor's ESC to reach full speed

2
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -398,7 +398,7 @@ void AP_MotorsHeli_Single::move_actuators(int16_t roll_out, int16_t pitch_out, i
coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
// if servo output not in manual mode, process pre-compensation factors
if (_servo_manual == 0) {
if (_servo_mode == SERVO_CONTROL_MODE_AUTOMATED) {
// rudder feed forward based on collective
// the feed-forward is not required when the motor is stopped or at idle, and thus not creating torque
// also not required if we are using external gyro