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AP_Motors: bugfix motors enabled when there is no output allocation

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This commit is contained in:
Jacob Walser 2017-10-29 22:58:09 -04:00
parent 28fdbf6532
commit 2e8d50e8e4
3 changed files with 6 additions and 10 deletions
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7
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -318,11 +318,6 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
// ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
// increment number of motors if this motor is being newly motor_enabled
if( !motor_enabled[motor_num] ) {
motor_enabled[motor_num] = true;
}
// set roll, pitch, thottle factors and opposite motor (for stability patch)
_roll_factor[motor_num] = roll_fac;
_pitch_factor[motor_num] = pitch_fac;
@ -332,7 +327,7 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
_test_order[motor_num] = testing_order;
// call parent class method
add_motor_num(motor_num);
motor_enabled[motor_num] = add_motor_num(motor_num);
}
}

7
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -193,17 +193,18 @@ int16_t AP_Motors::calc_pwm_output_0to1(float input, const SRV_Channel *servo)
/*
add a motor, setting up _motor_map and _motor_map_mask as needed
*/
void AP_Motors::add_motor_num(int8_t motor_num)
bool AP_Motors::add_motor_num(int8_t motor_num)
{
// ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
uint8_t chan;
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num);
SRV_Channels::set_aux_channel_default(function, motor_num);
if (SRV_Channels::find_channel((SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num),
chan) && chan != motor_num) {
if (SRV_Channels::find_channel((SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num), chan)) {
_motor_map[motor_num] = chan;
_motor_map_mask |= 1U<<motor_num;
return true;
}
}
return false;
}

2
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -166,7 +166,7 @@ protected:
virtual uint32_t rc_map_mask(uint32_t mask) const;
// add a motor to the motor map
void add_motor_num(int8_t motor_num);
bool add_motor_num(int8_t motor_num);
// update the throttle input filter
virtual void update_throttle_filter() = 0;