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Plane:remove duplication in setting servos in MANUAL

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This commit is contained in:
Henry Wurzburg 2023-06-19 10:48:59 -05:00 committed by Andrew Tridgell
parent bbcc31ecec
commit 3f7f7cd3a1
4 changed files with 21 additions and 30 deletions
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1
ArduPlane/Plane.h
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@ -1089,7 +1089,6 @@ private:
// servos.cpp // servos.cpp
void set_servos_idle(void); void set_servos_idle(void);
void set_servos(); void set_servos();
void set_servos_manual_passthrough(void);
void set_servos_controlled(void); void set_servos_controlled(void);
void set_servos_old_elevons(void); void set_servos_old_elevons(void);
void set_servos_flaps(void); void set_servos_flaps(void);

19
ArduPlane/mode_manual.cpp
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@ -5,7 +5,26 @@ void ModeManual::update()
{ {
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false)); SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.roll_in_expo(false));
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false)); SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.pitch_in_expo(false));
//rudder in sets rudder, but is also assigned to steering values used later in servos.cpp for steering
plane.steering_control.steering = plane.steering_control.rudder = plane.rudder_in_expo(false); plane.steering_control.steering = plane.steering_control.rudder = plane.rudder_in_expo(false);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.steering_control.steering);
float throttle = plane.get_throttle_input(true);
#if HAL_QUADPLANE_ENABLED
if (quadplane.available() && quadplane.option_is_set(QuadPlane::OPTION::IDLE_GOV_MANUAL)) {
// for quadplanes it can be useful to run the idle governor in MANUAL mode
// as it prevents the VTOL motors from running
int8_t min_throttle = plane.aparm.throttle_min.get();
// apply idle governor
#if AP_ICENGINE_ENABLED
plane.g2.ice_control.update_idle_governor(min_throttle);
#endif
throttle = MAX(throttle, min_throttle);
}
#endif
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
plane.nav_roll_cd = ahrs.roll_sensor; plane.nav_roll_cd = ahrs.roll_sensor;
plane.nav_pitch_cd = ahrs.pitch_sensor; plane.nav_pitch_cd = ahrs.pitch_sensor;

1
ArduPlane/quadplane.h
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@ -47,6 +47,7 @@ public:
friend class Tailsitter_Transition; friend class Tailsitter_Transition;
friend class Mode; friend class Mode;
friend class ModeManual;
friend class ModeAuto; friend class ModeAuto;
friend class ModeRTL; friend class ModeRTL;
friend class ModeAvoidADSB; friend class ModeAvoidADSB;

30
ArduPlane/servos.cpp
View File

@ -376,32 +376,6 @@ void Plane::set_servos_idle(void)
SRV_Channels::output_ch_all(); SRV_Channels::output_ch_all();
} }
/*
pass through channels in manual mode
*/
void Plane::set_servos_manual_passthrough(void)
{
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, roll_in_expo(false));
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pitch_in_expo(false));
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, rudder_in_expo(false));
float throttle = get_throttle_input(true);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
#if HAL_QUADPLANE_ENABLED
if (quadplane.available() && quadplane.option_is_set(QuadPlane::OPTION::IDLE_GOV_MANUAL)) {
// for quadplanes it can be useful to run the idle governor in MANUAL mode
// as it prevents the VTOL motors from running
int8_t min_throttle = aparm.throttle_min.get();
// apply idle governor
#if AP_ICENGINE_ENABLED
g2.ice_control.update_idle_governor(min_throttle);
#endif
throttle = MAX(throttle, min_throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
}
#endif
}
/* /*
Scale the throttle to conpensate for battery voltage drop Scale the throttle to conpensate for battery voltage drop
@ -870,9 +844,7 @@ void Plane::set_servos(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, steering_control.rudder); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, steering_control.rudder);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering_control.steering); SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering_control.steering);
if (control_mode == &mode_manual) { if (control_mode != &mode_manual) {
set_servos_manual_passthrough();
} else {
set_servos_controlled(); set_servos_controlled();
} }