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AP_Motors: accessors to set roll, pitch, yaw, throttle

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This saves 16bytes of RAM and slightly reduces the dependence upon the
RC_Channel class as the interface.
This commit is contained in:
Randy Mackay 2014-02-10 13:20:26 +09:00 committed by Andrew Tridgell
parent 98224db1e4
commit 2f4fe3e192
2 changed files with 19 additions and 10 deletions
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16
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -62,7 +62,7 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
};
// Constructor
AP_Motors::AP_Motors( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz ) :
AP_Motors::AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz ) :
_rc_roll(rc_roll),
_rc_pitch(rc_pitch),
_rc_throttle(rc_throttle),
@ -107,14 +107,14 @@ void AP_Motors::armed(bool arm)
// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
void AP_Motors::set_min_throttle(uint16_t min_throttle)
{
_min_throttle = (float)min_throttle * (_rc_throttle->radio_max - _rc_throttle->radio_min) / 1000.0f;
_min_throttle = (float)min_throttle * (_rc_throttle.radio_max - _rc_throttle.radio_min) / 1000.0f;
}
// set_mid_throttle - sets the mid throttle which is close to the hover throttle of the copter
// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control
void AP_Motors::set_mid_throttle(uint16_t mid_throttle)
{
_hover_out = _rc_throttle->radio_min + (float)(_rc_throttle->radio_max - _rc_throttle->radio_min) * mid_throttle / 1000.0f;
_hover_out = _rc_throttle.radio_min + (float)(_rc_throttle.radio_max - _rc_throttle.radio_min) * mid_throttle / 1000.0f;
}
// throttle_pass_through - passes pilot's throttle input directly to all motors - dangerous but used for initialising ESCs
@ -124,7 +124,7 @@ void AP_Motors::throttle_pass_through()
// send the pilot's input directly to each enabled motor
for (int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
hal.rcout->write(_motor_to_channel_map[i], _rc_throttle->radio_in);
hal.rcout->write(_motor_to_channel_map[i], _rc_throttle.radio_in);
}
}
}
@ -148,8 +148,8 @@ void AP_Motors::output()
// returns true if set up successfully
bool AP_Motors::setup_throttle_curve()
{
int16_t min_pwm = _rc_throttle->radio_min;
int16_t max_pwm = _rc_throttle->radio_max;
int16_t min_pwm = _rc_throttle.radio_min;
int16_t max_pwm = _rc_throttle.radio_max;
int16_t mid_throttle_pwm = (max_pwm + min_pwm) / 2;
int16_t mid_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_mid/100.0f);
int16_t max_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_max/100.0f);
@ -189,7 +189,7 @@ void AP_Motors::slow_start(bool true_false)
_flags.slow_start = true;
// initialise maximum throttle to current throttle
_max_throttle = constrain_int16(_rc_throttle->servo_out, 0, AP_MOTORS_DEFAULT_MAX_THROTTLE);
_max_throttle = constrain_int16(_rc_throttle.servo_out, 0, AP_MOTORS_DEFAULT_MAX_THROTTLE);
}
// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag
@ -213,7 +213,7 @@ void AP_Motors::update_max_throttle()
_max_throttle += AP_MOTOR_SLOW_START_INCREMENT;
// turn off slow start if we've reached max throttle
if (_max_throttle >= _rc_throttle->servo_out) {
if (_max_throttle >= _rc_throttle.servo_out) {
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
_flags.slow_start = false;
}

13
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -68,7 +68,7 @@ class AP_Motors {
public:
// Constructor
AP_Motors( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// init
virtual void Init();
@ -107,6 +107,12 @@ public:
int16_t throttle_min() const { return _min_throttle;}
int16_t throttle_max() const { return _max_throttle;}
// set_roll, set_pitch, set_yaw, set_throttle
void set_roll(int16_t roll_in) { _rc_roll.servo_out = roll_in; }; // range -4500 ~ 4500
void set_pitch(int16_t pitch_in) { _rc_pitch.servo_out = pitch_in; }; // range -4500 ~ 4500
void set_yaw(int16_t yaw_in) { _rc_yaw.servo_out = yaw_in; }; // range -4500 ~ 4500
void set_throttle(int16_t throttle_in) { _rc_throttle.servo_out = throttle_in; }; // range 0 ~ 1000
// output - sends commands to the motors
void output();
@ -166,7 +172,10 @@ protected:
AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
// internal variables
RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users
RC_Channel& _rc_roll; // roll input in from users is held in servo_out
RC_Channel& _rc_pitch; // pitch input in from users is held in servo_out
RC_Channel& _rc_throttle; // throttle input in from users is held in servo_out
RC_Channel& _rc_yaw; // yaw input in from users is held in servo_out
uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
uint16_t _speed_hz; // speed in hz to send updates to motors
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)