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

AP_Motors: Tradheli-fix servo4 param calls and ensure no divide by zero

This commit is contained in:
bnsgeyer 2023-06-04 05:34:22 -04:00 committed by Bill Geyer
parent cc89c1ac1a
commit 270c6a2028
1 changed files with 17 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -243,14 +243,7 @@ bool AP_MotorsHeli_Single::init_outputs()
reset_swash_servo(SRV_Channels::get_motor_function(4));
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
SRV_Channel *c = SRV_Channels::srv_channel(AP_MOTORS_MOT_4);
if (c != nullptr) {
_ddfp_pwm_min = c->get_output_min();
_ddfp_pwm_max = c->get_output_max();
_ddfp_pwm_trim = c->get_trim();
}
} else {
if (_tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
// yaw servo is an angle from -4500 to 4500
SRV_Channels::set_angle(SRV_Channel::k_motor4, YAW_SERVO_MAX_ANGLE);
}
@ -598,15 +591,26 @@ void AP_MotorsHeli_Single::output_to_motors()
// set motor output based on thrust requests
update_motor_control(ROTOR_CONTROL_ACTIVE);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
float servo4_trim = (_ddfp_pwm_trim - 1000) / (_ddfp_pwm_max - _ddfp_pwm_min);
SRV_Channel *c = SRV_Channels::srv_channel(AP_MOTORS_MOT_4);
if (c != nullptr) {
_ddfp_pwm_min = c->get_output_min();
_ddfp_pwm_max = c->get_output_max();
_ddfp_pwm_trim = c->get_trim();
}
float servo_out = 0.0f;
if (is_positive(_servo4_out)) {
servo_out = (1.0f - servo4_trim) * _servo4_out + servo4_trim;
if (is_positive((float) (_ddfp_pwm_max - _ddfp_pwm_min))) {
float servo4_trim = constrain_float((_ddfp_pwm_trim - 1000) / (_ddfp_pwm_max - _ddfp_pwm_min), 0.0f, 1.0f);
if (is_positive(_servo4_out)) {
servo_out = (1.0f - servo4_trim) * _servo4_out + servo4_trim;
} else {
servo_out = servo4_trim * _servo4_out + servo4_trim;
}
} else {
servo_out = servo4_trim * _servo4_out + servo4_trim;
// if servo pwm min and max are bad, convert servo4_out from -1 to 1 to 0 to 1
servo_out = 0.5f * (_servo4_out + 1.0f);
}
// output yaw servo to tail rsc
rc_write(AP_MOTORS_MOT_4, calculate_ddfp_output(thr_lin.thrust_to_actuator(servo_out)));
rc_write(AP_MOTORS_MOT_4, calculate_ddfp_output(thr_lin.thrust_to_actuator(constrain_float(servo_out, 0.0f, 1.0f))));
}
break;
case SpoolState::SPOOLING_DOWN: