Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsCoax: remove reverse parameters

Browse Source 
No longer necessary because we can use individual servo reverse params
This commit is contained in:
Leonard Hall 2016-01-22 10:19:13 +09:00 committed by Randy Mackay
parent 260006dcb3
commit 40c18891cf
2 changed files with 8 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
libraries/AP_Motors/AP_MotorsCoax.cpp
View File

@ -35,23 +35,9 @@ const AP_Param::GroupInfo AP_MotorsCoax::var_info[] = {
// parameters 30 ~ 39 reserved for tricopter
// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
// @Param: ROLL_SV_REV
// @DisplayName: Reverse roll feedback
// @Description: Ensure the feedback is negative
// @Values: -1:Reversed,1:Normal
AP_GROUPINFO("ROLL_SV_REV", 40, AP_MotorsCoax, _roll_reverse, AP_MOTORS_COAX_POSITIVE),
// @Param: PITCH_SV_REV
// @DisplayName: Reverse roll feedback
// @Description: Ensure the feedback is negative
// @Values: -1:Reversed,1:Normal
AP_GROUPINFO("PITCH_SV_REV", 41, AP_MotorsCoax, _pitch_reverse, AP_MOTORS_COAX_POSITIVE),
// @Param: YAW_SV_REV
// @DisplayName: Reverse roll feedback
// @Description: Ensure the feedback is negative
// @Values: -1:Reversed,1:Normal
AP_GROUPINFO("YAW_SV_REV", 42, AP_MotorsCoax, _yaw_reverse, AP_MOTORS_COAX_POSITIVE),
// 40 was ROLL_SV_REV
// 41 was PITCH_SV_REV
// 42 was YAW_SV_REV
// @Param: SV_SPEED
// @DisplayName: Servo speed
@ -214,9 +200,9 @@ void AP_MotorsCoax::output_armed_stabilizing()
// apply voltage and air pressure compensation
// todo: we shouldn't need input reversing with servo reversing
roll_thrust = _roll_reverse * get_roll_thrust() * get_compensation_gain();
pitch_thrust = _pitch_reverse * get_pitch_thrust() * get_compensation_gain();
yaw_thrust = _yaw_reverse * get_yaw_thrust() * get_compensation_gain();
roll_thrust = get_roll_thrust() * get_compensation_gain();
pitch_thrust = get_pitch_thrust() * get_compensation_gain();
yaw_thrust = get_yaw_thrust() * get_compensation_gain();
throttle_thrust = get_throttle() * get_compensation_gain();
// assuming maximum actuator defection the maximum roll and pitch torque is approximately proportional to thrust

7
libraries/AP_Motors/AP_MotorsCoax.h
View File

@ -66,11 +66,8 @@ protected:
// calc_yaw_radio_output - calculate final pwm output for yaw channel
int16_t calc_pivot_radio_output(float yaw_input, const RC_Channel& servo);
// We shouldn't need roll, pitch, and yaw reversing with servo reversing.
AP_Int8 _roll_reverse; // Reverse roll output
AP_Int8 _pitch_reverse; // Reverse pitch output
AP_Int8 _yaw_reverse; // Reverse yaw output
AP_Int16 _servo_speed; // servo speed
// servo speed
AP_Int16 _servo_speed;
// Allow the use of a 4 servo output to make it easy to test coax and single using same airframe
RC_Channel _servo1;