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Copter: use cork/push wrapper

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This commit is contained in:
Andrew Tridgell 2017-11-03 13:35:14 +11:00
parent d57f307032
commit 23b20307af
3 changed files with 8 additions and 8 deletions
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4
ArduCopter/compassmot.cpp
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@ -156,9 +156,9 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
read_radio(); read_radio();
// pass through throttle to motors // pass through throttle to motors
hal.rcout->cork(); SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
hal.rcout->push(); SRV_Channels::push();
// read some compass values // read some compass values
compass.read(); compass.read();

8
ArduCopter/esc_calibration.cpp
View File

@ -116,9 +116,9 @@ void Copter::esc_calibration_passthrough()
delay(3); delay(3);
// pass through to motors // pass through to motors
hal.rcout->cork(); SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
hal.rcout->push(); SRV_Channels::push();
} }
#endif // FRAME_CONFIG != HELI_FRAME #endif // FRAME_CONFIG != HELI_FRAME
} }
@ -163,9 +163,9 @@ void Copter::esc_calibration_auto()
gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch"); gcs().send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
printed_msg = true; printed_msg = true;
} }
hal.rcout->cork(); SRV_Channels::cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f); motors->set_throttle_passthrough_for_esc_calibration(1.0f);
hal.rcout->push(); SRV_Channels::push();
esc_calibration_notify(); esc_calibration_notify();
delay(3); delay(3);
} }

4
ArduCopter/motors.cpp
View File

@ -293,7 +293,7 @@ void Copter::motors_output()
SRV_Channels::calc_pwm(); SRV_Channels::calc_pwm();
// cork now, so that all channel outputs happen at once // cork now, so that all channel outputs happen at once
hal.rcout->cork(); SRV_Channels::cork();
// update output on any aux channels, for manual passthru // update output on any aux channels, for manual passthru
SRV_Channels::output_ch_all(); SRV_Channels::output_ch_all();
@ -316,7 +316,7 @@ void Copter::motors_output()
} }
// push all channels // push all channels
hal.rcout->push(); SRV_Channels::push();
} }
// check for pilot stick input to trigger lost vehicle alarm // check for pilot stick input to trigger lost vehicle alarm