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Plane: removed separate tricopter quadplane build 

can all be done with one build now
This commit is contained in:
Andrew Tridgell 2017-01-09 19:19:42 +11:00
parent 2a1408becf
commit 2f100b0804
3 changed files with 17 additions and 40 deletions
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30
ArduPlane/quadplane.cpp
View File

@ -11,7 +11,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Group: M_ // @Group: M_
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp // @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MOTORS_CLASS), AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsMulticopter),
// 3 ~ 8 were used by quadplane attitude control PIDs // 3 ~ 8 were used by quadplane attitude control PIDs
@ -369,7 +369,8 @@ bool QuadPlane::setup(void)
} }
float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz(); float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
#if FRAME_CONFIG != TRI_FRAME enum AP_Motors::motor_frame_class motor_class;
/* /*
cope with upgrade from old AP_Motors values for frame_class cope with upgrade from old AP_Motors values for frame_class
*/ */
@ -397,7 +398,6 @@ bool QuadPlane::setup(void)
} }
frame_class.set_and_save(new_value); frame_class.set_and_save(new_value);
} }
#endif
if (hal.util->available_memory() < if (hal.util->available_memory() <
4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) { 4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) {
@ -405,20 +405,13 @@ bool QuadPlane::setup(void)
goto failed; goto failed;
} }
#if FRAME_CONFIG == TRI_FRAME
SRV_Channels::set_default_function(CH_5, SRV_Channel::k_motor1);
SRV_Channels::set_default_function(CH_6, SRV_Channel::k_motor2);
SRV_Channels::set_default_function(CH_8, SRV_Channel::k_motor4);
SRV_Channels::set_default_function(CH_11, SRV_Channel::k_motor7);
frame_class.set(AP_Motors::MOTOR_FRAME_TRI);
motors = new AP_MOTORS_CLASS(plane.scheduler.get_loop_rate_hz());
#else
/* /*
dynamically allocate the key objects for quadplane. This ensures dynamically allocate the key objects for quadplane. This ensures
that the objects don't affect the vehicle unless enabled and that the objects don't affect the vehicle unless enabled and
also saves memory when not in use also saves memory when not in use
*/ */
switch ((enum AP_Motors::motor_frame_class)frame_class.get()) { motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
switch (motor_class) {
case AP_Motors::MOTOR_FRAME_QUAD: case AP_Motors::MOTOR_FRAME_QUAD:
setup_default_channels(4); setup_default_channels(4);
break; break;
@ -432,12 +425,21 @@ bool QuadPlane::setup(void)
case AP_Motors::MOTOR_FRAME_Y6: case AP_Motors::MOTOR_FRAME_Y6:
setup_default_channels(7); setup_default_channels(7);
break; break;
case AP_Motors::MOTOR_FRAME_TRI:
SRV_Channels::set_default_function(CH_5, SRV_Channel::k_motor1);
SRV_Channels::set_default_function(CH_6, SRV_Channel::k_motor2);
SRV_Channels::set_default_function(CH_8, SRV_Channel::k_motor4);
SRV_Channels::set_default_function(CH_11, SRV_Channel::k_motor7);
break;
default: default:
hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get()); hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
goto failed; goto failed;
} }
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz()); if (motor_class == AP_Motors::MOTOR_FRAME_TRI) {
#endif // AP_MOTORS_CLASS motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz());
} else {
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
}
const static char *strUnableToAllocate = "Unable to allocate"; const static char *strUnableToAllocate = "Unable to allocate";
if (!motors) { if (!motors) {
hal.console->printf("%s motors\n", strUnableToAllocate); hal.console->printf("%s motors\n", strUnableToAllocate);

20
ArduPlane/quadplane.h
View File

@ -8,24 +8,6 @@
#include <AC_Avoidance/AC_Avoid.h> #include <AC_Avoidance/AC_Avoid.h>
#include <AP_Proximity/AP_Proximity.h> #include <AP_Proximity/AP_Proximity.h>
/*
frame types for quadplane build. Most case be set with
parameters. Those that can't are listed here and chosen with a build
time FRAME_CONFIG parameter
*/
#define MULTICOPTER_FRAME 1
#define TRI_FRAME 2
#ifndef FRAME_CONFIG
# define FRAME_CONFIG MULTICOPTER_FRAME
#endif
#if FRAME_CONFIG == TRI_FRAME
#define AP_MOTORS_CLASS AP_MotorsTri
#else
#define AP_MOTORS_CLASS AP_MotorsMulticopter
#endif
/* /*
QuadPlane specific functionality QuadPlane specific functionality
*/ */
@ -124,7 +106,7 @@ private:
AP_Int8 frame_class; AP_Int8 frame_class;
AP_Int8 frame_type; AP_Int8 frame_type;
AP_MOTORS_CLASS *motors; AP_MotorsMulticopter *motors;
AC_AttitudeControl_Multi *attitude_control; AC_AttitudeControl_Multi *attitude_control;
AC_PosControl *pos_control; AC_PosControl *pos_control;
AC_WPNav *wp_nav; AC_WPNav *wp_nav;

7
ArduPlane/wscript
View File

@ -41,10 +41,3 @@ def build(bld):
program_groups=['bin', 'plane'], program_groups=['bin', 'plane'],
use=vehicle + '_libs', use=vehicle + '_libs',
) )
bld.ap_program(
program_name='arduplane-tri',
program_groups=['bin', 'plane'],
use=vehicle + '_libs',
defines=['FRAME_CONFIG=TRI_FRAME'],
)