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AP_Motors: removed cork/push from AP_Motors

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should be done by vehicle code if needed, so that AUX servos are sent
at the same time
This commit is contained in:
Andrew Tridgell 2017-04-18 10:03:01 +10:00
parent 5c028897a3
commit 2c4975ba31
8 changed files with 0 additions and 38 deletions
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4
libraries/AP_Motors/AP_Motors6DOF.cpp
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@ -183,13 +183,11 @@ void AP_Motors6DOF::output_min()
// fill the motor_out[] array for HIL use and send minimum value to each motor // fill the motor_out[] array for HIL use and send minimum value to each motor
// ToDo find a field to store the minimum pwm instead of hard coding 1500 // ToDo find a field to store the minimum pwm instead of hard coding 1500
hal.rcout->cork();
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[i]) {
rc_write(i, 1500); rc_write(i, 1500);
} }
} }
hal.rcout->push();
} }
int16_t AP_Motors6DOF::calc_thrust_to_pwm(float thrust_in) const int16_t AP_Motors6DOF::calc_thrust_to_pwm(float thrust_in) const
@ -233,13 +231,11 @@ void AP_Motors6DOF::output_to_motors()
} }
// send output to each motor // send output to each motor
hal.rcout->cork();
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[i]) {
rc_write(i, motor_out[i]); rc_write(i, motor_out[i]);
} }
} }
hal.rcout->push();
} }
// output_armed - sends commands to the motors // output_armed - sends commands to the motors

6
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -89,38 +89,32 @@ void AP_MotorsCoax::output_to_motors()
switch (_spool_mode) { switch (_spool_mode) {
case SHUT_DOWN: case SHUT_DOWN:
// sends minimum values out to the motors // sends minimum values out to the motors
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough, _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough, _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough, _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough, _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough, _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough, _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough, _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough, _servo4));
rc_write(AP_MOTORS_MOT_5, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_6, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
hal.rcout->push();
break; break;
case SPIN_WHEN_ARMED: case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying // sends output to motors when armed but not flying
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[0], _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[1], _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[2], _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[3], _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm());
hal.rcout->push();
break; break;
case SPOOL_UP: case SPOOL_UP:
case THROTTLE_UNLIMITED: case THROTTLE_UNLIMITED:
case SPOOL_DOWN: case SPOOL_DOWN:
// set motor output based on thrust requests // set motor output based on thrust requests
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_yt_ccw)); rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_yt_ccw));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_yt_cw)); rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_yt_cw));
hal.rcout->push();
break; break;
} }
} }

4
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -543,16 +543,12 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
servo6_out = 2*servo6_out - 1; servo6_out = 2*servo6_out - 1;
// actually move the servos // actually move the servos
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(servo1_out, _swash_servo_1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(servo1_out, _swash_servo_1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(servo2_out, _swash_servo_2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(servo2_out, _swash_servo_2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(servo3_out, _swash_servo_3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(servo3_out, _swash_servo_3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(servo4_out, _swash_servo_4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(servo4_out, _swash_servo_4));
rc_write(AP_MOTORS_MOT_5, calc_pwm_output_1to1(servo5_out, _swash_servo_5)); rc_write(AP_MOTORS_MOT_5, calc_pwm_output_1to1(servo5_out, _swash_servo_5));
rc_write(AP_MOTORS_MOT_6, calc_pwm_output_1to1(servo6_out, _swash_servo_6)); rc_write(AP_MOTORS_MOT_6, calc_pwm_output_1to1(servo6_out, _swash_servo_6));
hal.rcout->push();
} }

4
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -449,8 +449,6 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
} }
float servo3_out = ((_rollFactor[CH_3] * roll_out) + (_pitchFactor[CH_3] * pitch_out))*0.45f + _collectiveFactor[CH_3] * coll_out_scaled; float servo3_out = ((_rollFactor[CH_3] * roll_out) + (_pitchFactor[CH_3] * pitch_out))*0.45f + _collectiveFactor[CH_3] * coll_out_scaled;
hal.rcout->cork();
// rescale from -1..1, so we can use the pwm calc that includes trim // rescale from -1..1, so we can use the pwm calc that includes trim
servo1_out = 2*servo1_out - 1; servo1_out = 2*servo1_out - 1;
servo2_out = 2*servo2_out - 1; servo2_out = 2*servo2_out - 1;
@ -463,8 +461,6 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
// update the yaw rate using the tail rotor/servo // update the yaw rate using the tail rotor/servo
move_yaw(yaw_out + yaw_offset); move_yaw(yaw_out + yaw_offset);
hal.rcout->push();
} }
// move_yaw // move_yaw

4
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -126,13 +126,11 @@ void AP_MotorsMatrix::output_to_motors()
} }
// send output to each motor // send output to each motor
hal.rcout->cork();
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[i]) {
rc_write(i, motor_out[i]); rc_write(i, motor_out[i]);
} }
} }
hal.rcout->push();
} }
@ -302,14 +300,12 @@ void AP_MotorsMatrix::output_test(uint8_t motor_seq, int16_t pwm)
} }
// loop through all the possible orders spinning any motors that match that description // loop through all the possible orders spinning any motors that match that description
hal.rcout->cork();
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] && _test_order[i] == motor_seq) { if (motor_enabled[i] && _test_order[i] == motor_seq) {
// turn on this motor // turn on this motor
rc_write(i, pwm); rc_write(i, pwm);
} }
} }
hal.rcout->push();
} }
// add_motor // add_motor

4
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -582,13 +582,11 @@ void AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(float th
if (armed()) { if (armed()) {
uint16_t pwm_out = get_pwm_output_min() + constrain_float(throttle_input, 0.0f, 1.0f) * (get_pwm_output_max() - get_pwm_output_min()); uint16_t pwm_out = get_pwm_output_min() + constrain_float(throttle_input, 0.0f, 1.0f) * (get_pwm_output_max() - get_pwm_output_min());
// send the pilot's input directly to each enabled motor // send the pilot's input directly to each enabled motor
hal.rcout->cork();
for (uint16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) { for (uint16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) { if (motor_enabled[i]) {
rc_write(i, pwm_out); rc_write(i, pwm_out);
} }
} }
hal.rcout->push();
} }
} }
@ -597,7 +595,6 @@ void AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(float th
// the range 0 to 1 // the range 0 to 1
void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask) void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask)
{ {
hal.rcout->cork();
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]) {
int16_t motor_out; int16_t motor_out;
@ -609,7 +606,6 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask)
rc_write(i, motor_out); rc_write(i, motor_out);
} }
} }
hal.rcout->push();
} }
// save parameters as part of disarming // save parameters as part of disarming

6
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -98,38 +98,32 @@ void AP_MotorsSingle::output_to_motors()
switch (_spool_mode) { switch (_spool_mode) {
case SHUT_DOWN: case SHUT_DOWN:
// sends minimum values out to the motors // sends minimum values out to the motors
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough - _yaw_radio_passthrough, _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough - _yaw_radio_passthrough, _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough - _yaw_radio_passthrough, _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough - _yaw_radio_passthrough, _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough - _yaw_radio_passthrough, _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough - _yaw_radio_passthrough, _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough - _yaw_radio_passthrough, _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough - _yaw_radio_passthrough, _servo4));
rc_write(AP_MOTORS_MOT_5, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_6, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
hal.rcout->push();
break; break;
case SPIN_WHEN_ARMED: case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying // sends output to motors when armed but not flying
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[0], _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[1], _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[2], _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[3], _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm());
hal.rcout->push();
break; break;
case SPOOL_UP: case SPOOL_UP:
case THROTTLE_UNLIMITED: case THROTTLE_UNLIMITED:
case SPOOL_DOWN: case SPOOL_DOWN:
// set motor output based on thrust requests // set motor output based on thrust requests
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out)); rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out)); rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out));
hal.rcout->push();
break; break;
} }
} }

6
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -90,32 +90,26 @@ void AP_MotorsTri::output_to_motors()
switch (_spool_mode) { switch (_spool_mode) {
case SHUT_DOWN: case SHUT_DOWN:
// sends minimum values out to the motors // sends minimum values out to the motors
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_1, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_2, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_2, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_4, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_4, get_pwm_output_min());
rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim()); rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim());
hal.rcout->push();
break; break;
case SPIN_WHEN_ARMED: case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying // sends output to motors when armed but not flying
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_1, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_2, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_2, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_4, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_4, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim()); rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim());
hal.rcout->push();
break; break;
case SPOOL_UP: case SPOOL_UP:
case THROTTLE_UNLIMITED: case THROTTLE_UNLIMITED:
case SPOOL_DOWN: case SPOOL_DOWN:
// set motor output based on thrust requests // set motor output based on thrust requests
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_thrust_to_pwm(_thrust_right)); rc_write(AP_MOTORS_MOT_1, calc_thrust_to_pwm(_thrust_right));
rc_write(AP_MOTORS_MOT_2, calc_thrust_to_pwm(_thrust_left)); rc_write(AP_MOTORS_MOT_2, calc_thrust_to_pwm(_thrust_left));
rc_write(AP_MOTORS_MOT_4, calc_thrust_to_pwm(_thrust_rear)); rc_write(AP_MOTORS_MOT_4, calc_thrust_to_pwm(_thrust_rear));
rc_write(AP_MOTORS_CH_TRI_YAW, calc_yaw_radio_output(_pivot_angle, radians(_yaw_servo_angle_max_deg))); rc_write(AP_MOTORS_CH_TRI_YAW, calc_yaw_radio_output(_pivot_angle, radians(_yaw_servo_angle_max_deg)));
hal.rcout->push();
break; break;
} }
} }