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ArduCopter: bug fix for reversing tri servo 

Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
This commit is contained in:
rmackay9 2012-05-13 12:36:46 +09:00
parent 2f74004fcb
commit 357d6c2d9b
3 changed files with 13 additions and 2 deletions
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6
ArduCopter/ArduCopter.pde
View File

@ -411,6 +411,12 @@ static byte old_control_mode = STABILIZE;
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
#endif
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
#endif
#else
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2

4
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -128,7 +128,9 @@ void AP_MotorsTri::output_armed()
// also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value)
// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
if( _rc_yaw->get_reverse() == true ) {
// note: we use _rc_tail's (aka channel 7's) REV parameter to control whether the servo is reversed or not but this is a bit nonsensical.
// a separate servo object (including min, max settings etc) would be better or at least a separate parameter to specify the direction of the tail servo
if( _rc_tail->get_reverse() == true ) {
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim));
}else{
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);

5
libraries/AP_Motors/AP_MotorsTri.h
View File

@ -21,7 +21,9 @@ class AP_MotorsTri : public AP_Motors {
public:
/// Constructor
AP_MotorsTri( uint8_t APM_version, APM_RC_Class* rc_out, 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(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) {};
AP_MotorsTri( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, RC_Channel* rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
_rc_tail(rc_tail) {};
// init
virtual void Init();
@ -46,6 +48,7 @@ protected:
virtual void output_armed();
virtual void output_disarmed();
RC_Channel* _rc_tail; // REV parameter used from this channel to determine direction of tail servo movement
};
#endif // AP_MOTORSTRI