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AP_Motors: allow output_motor_mask() to work properly with slew limits

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this fixes tilt quadplanes with slew limits when we set motors state
to SHUT_DOWN
This commit is contained in:
Andrew Tridgell 2024-02-21 16:38:09 +11:00
parent 4d2c7f3d64
commit 2b784e01f9
4 changed files with 20 additions and 4 deletions

2
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -148,7 +148,7 @@ void AP_MotorsMatrix::output_to_motors()
case SpoolState::SHUT_DOWN: { case SpoolState::SHUT_DOWN: {
// no output // no output
for (i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) { for (i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) { if (motor_enabled_mask(i)) {
_actuator[i] = 0.0f; _actuator[i] = 0.0f;
} }
} }

4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -272,6 +272,8 @@ void AP_MotorsMulticopter::output()
// check for any external limit flags // check for any external limit flags
update_external_limits(); update_external_limits();
// clear mask of overridden motors
_motor_mask_override = 0;
}; };
void AP_MotorsMulticopter::update_external_limits() void AP_MotorsMulticopter::update_external_limits()
@ -728,6 +730,8 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint16_t mask, float
const int16_t pwm_min = get_pwm_output_min(); const int16_t pwm_min = get_pwm_output_min();
const int16_t pwm_range = get_pwm_output_max() - pwm_min; const int16_t pwm_range = get_pwm_output_max() - pwm_min;
_motor_mask_override = mask;
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) { for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) { if (motor_enabled[i]) {
if ((mask & (1U << i)) && armed() && get_interlock()) { if ((mask & (1U << i)) && armed() && get_interlock()) {

10
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -192,4 +192,14 @@ protected:
// array of motor output values // array of motor output values
float _actuator[AP_MOTORS_MAX_NUM_MOTORS]; float _actuator[AP_MOTORS_MAX_NUM_MOTORS];
/* motor enabled, checking the override mask
_motor_mask_override is only set for tilt quadplanes
*/
bool motor_enabled_mask(uint8_t i) const {
return motor_enabled[i] && (_motor_mask_override & (1U << i)) == 0;
}
// mask of overridden motors (used by quadplane tiltrotors)
uint16_t _motor_mask_override;
}; };

8
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -90,9 +90,11 @@ void AP_MotorsTri::output_to_motors()
switch (_spool_state) { switch (_spool_state) {
case SpoolState::SHUT_DOWN: case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors // sends minimum values out to the motors
_actuator[AP_MOTORS_MOT_1] = 0.0; for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
_actuator[AP_MOTORS_MOT_2] = 0.0; if (motor_enabled_mask(i)) {
_actuator[AP_MOTORS_MOT_4] = 0.0; rc_write(AP_MOTORS_MOT_1+i, output_to_pwm(0));
}
}
rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0); rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
break; break;
case SpoolState::GROUND_IDLE: case SpoolState::GROUND_IDLE: