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Sub: Clean up radio.cpp

This commit is contained in:
Jacob Walser 2017-04-05 16:25:03 -04:00
parent 1d3d6c064e
commit 4349eaba32
3 changed files with 14 additions and 34 deletions
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1
ArduSub/Sub.h
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@ -672,7 +672,6 @@ private:
float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination); float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination); float pv_get_horizontal_distance_cm(const Vector3f &origin, const Vector3f &destination);
float pv_distance_to_home_cm(const Vector3f &destination); float pv_distance_to_home_cm(const Vector3f &destination);
void default_dead_zones();
void init_rc_in(); void init_rc_in();
void init_rc_out(); void init_rc_out();
void enable_motor_output(); void enable_motor_output();

8
ArduSub/motors.cpp
View File

@ -1,5 +1,13 @@
#include "Sub.h" #include "Sub.h"
// enable_motor_output() - enable and output lowest possible value to motors
void Sub::enable_motor_output()
{
// enable motors
motors.enable();
motors.output_min();
}
// init_arm_motors - performs arming process including initialisation of barometer and gyros // init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure // returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Sub::init_arm_motors(bool arming_from_gcs) bool Sub::init_arm_motors(bool arming_from_gcs)

39
ArduSub/radio.cpp
View File

@ -1,19 +1,5 @@
#include "Sub.h" #include "Sub.h"
// Function that will read the radio data, limit servos and trigger a failsafe
// ----------------------------------------------------------------------------
void Sub::default_dead_zones()
{
channel_roll->set_default_dead_zone(30);
channel_pitch->set_default_dead_zone(30);
channel_throttle->set_default_dead_zone(30);
channel_yaw->set_default_dead_zone(40);
channel_forward->set_default_dead_zone(30);
channel_lateral->set_default_dead_zone(30);
}
void Sub::init_rc_in() void Sub::init_rc_in()
{ {
channel_pitch = RC_Channels::rc_channel(0); channel_pitch = RC_Channels::rc_channel(0);
@ -31,18 +17,13 @@ void Sub::init_rc_in()
channel_forward->set_angle(ROLL_PITCH_INPUT_MAX); channel_forward->set_angle(ROLL_PITCH_INPUT_MAX);
channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX); channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX);
// force throttle trim to 1100
channel_throttle->set_radio_trim(1100);
channel_throttle->save_eeprom();
//set auxiliary servo ranges
// g.rc_5.set_range(0,1000);
// g.rc_6.set_range(0,1000);
// g.rc_7.set_range(0,1000);
// g.rc_8.set_range(0,1000);
// set default dead zones // set default dead zones
default_dead_zones(); channel_roll->set_default_dead_zone(30);
channel_pitch->set_default_dead_zone(30);
channel_throttle->set_default_dead_zone(30);
channel_yaw->set_default_dead_zone(40);
channel_forward->set_default_dead_zone(30);
channel_lateral->set_default_dead_zone(30);
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
// initialize rc input to 1500 on control channels (rather than 0) // initialize rc input to 1500 on control channels (rather than 0)
@ -68,11 +49,3 @@ void Sub::init_rc_out()
// refresh auxiliary channel to function map // refresh auxiliary channel to function map
SRV_Channels::update_aux_servo_function(); SRV_Channels::update_aux_servo_function();
} }
// enable_motor_output() - enable and output lowest possible value to motors
void Sub::enable_motor_output()
{
// enable motors
motors.enable();
motors.output_min();
}