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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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28
ArduPlane/quadplane.cpp
View File

@ -11,7 +11,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Group: M_
// @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
@ -369,7 +369,8 @@ bool QuadPlane::setup(void)
}
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
*/
@ -397,7 +398,6 @@ bool QuadPlane::setup(void)
}
frame_class.set_and_save(new_value);
}
#endif
if (hal.util->available_memory() <
4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav)) {
@ -405,20 +405,13 @@ bool QuadPlane::setup(void)
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
that the objects don't affect the vehicle unless enabled and
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:
setup_default_channels(4);
break;
@ -432,12 +425,21 @@ bool QuadPlane::setup(void)
case AP_Motors::MOTOR_FRAME_Y6:
setup_default_channels(7);
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:
hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
goto failed;
}
if (motor_class == AP_Motors::MOTOR_FRAME_TRI) {
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz());
} else {
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
#endif // AP_MOTORS_CLASS
}
const static char *strUnableToAllocate = "Unable to allocate";
if (!motors) {
hal.console->printf("%s motors\n", strUnableToAllocate);

20
ArduPlane/quadplane.h
View File

@ -8,24 +8,6 @@
#include <AC_Avoidance/AC_Avoid.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
*/
@ -124,7 +106,7 @@ private:
AP_Int8 frame_class;
AP_Int8 frame_type;
AP_MOTORS_CLASS *motors;
AP_MotorsMulticopter *motors;
AC_AttitudeControl_Multi *attitude_control;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;

7
ArduPlane/wscript
View File

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