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ArduCopter: make SRV_Channels::cork non-static

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for symmetry with the push function
This commit is contained in:
Peter Barker 2024-11-13 08:09:59 +11:00 committed by Andrew Tridgell
parent 50c574672a
commit 3403a49236
3 changed files with 17 additions and 12 deletions
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5
ArduCopter/compassmot.cpp
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@ -146,9 +146,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
read_radio(); read_radio();
// pass through throttle to motors // pass through throttle to motors
SRV_Channels::cork(); auto &srv = AP::srv();
srv.cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
AP::srv().push(); srv.push();
// read some compass values // read some compass values
compass.read(); compass.read();

18
ArduCopter/esc_calibration.cpp
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@ -95,9 +95,10 @@ void Copter::esc_calibration_passthrough()
hal.scheduler->delay(3); hal.scheduler->delay(3);
// pass through to motors // pass through to motors
SRV_Channels::cork(); auto &srv = AP::srv();
srv.cork();
motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f); motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
AP::srv().push(); srv.push();
} }
#endif // FRAME_CONFIG != HELI_FRAME #endif // FRAME_CONFIG != HELI_FRAME
} }
@ -112,25 +113,26 @@ void Copter::esc_calibration_auto()
esc_calibration_setup(); esc_calibration_setup();
// raise throttle to maximum // raise throttle to maximum
SRV_Channels::cork(); auto &srv = AP::srv();
srv.cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f); motors->set_throttle_passthrough_for_esc_calibration(1.0f);
AP::srv().push(); srv.push();
// delay for 5 seconds while outputting pulses // delay for 5 seconds while outputting pulses
uint32_t tstart = millis(); uint32_t tstart = millis();
while (millis() - tstart < 5000) { while (millis() - tstart < 5000) {
SRV_Channels::cork(); srv.cork();
motors->set_throttle_passthrough_for_esc_calibration(1.0f); motors->set_throttle_passthrough_for_esc_calibration(1.0f);
AP::srv().push(); srv.push();
esc_calibration_notify(); esc_calibration_notify();
hal.scheduler->delay(3); hal.scheduler->delay(3);
} }
// block until we restart // block until we restart
while(1) { while(1) {
SRV_Channels::cork(); srv.cork();
motors->set_throttle_passthrough_for_esc_calibration(0.0f); motors->set_throttle_passthrough_for_esc_calibration(0.0f);
AP::srv().push(); srv.push();
esc_calibration_notify(); esc_calibration_notify();
hal.scheduler->delay(3); hal.scheduler->delay(3);
} }

6
ArduCopter/motors.cpp
View File

@ -156,8 +156,10 @@ void Copter::motors_output()
// output any servo channels // output any servo channels
SRV_Channels::calc_pwm(); SRV_Channels::calc_pwm();
auto &srv = AP::srv();
// cork now, so that all channel outputs happen at once // cork now, so that all channel outputs happen at once
SRV_Channels::cork(); srv.cork();
// update output on any aux channels, for manual passthru // update output on any aux channels, for manual passthru
SRV_Channels::output_ch_all(); SRV_Channels::output_ch_all();
@ -181,7 +183,7 @@ void Copter::motors_output()
} }
// push all channels // push all channels
AP::srv().push(); srv.push();
} }
// check for pilot stick input to trigger lost vehicle alarm // check for pilot stick input to trigger lost vehicle alarm