Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsSingle: remove output_armed_not_stabilizing

Browse Source
This commit is contained in:
Leonard Hall 2016-01-20 13:25:23 +09:00 committed by Randy Mackay
parent 40c18891cf
commit 46ab198ebc
2 changed files with 0 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

51
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -133,58 +133,7 @@ uint16_t AP_MotorsSingle::get_motor_mask()
return rc_map_mask(1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << 6); return rc_map_mask(1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << 6);
} }
void AP_MotorsSingle::output_armed_not_stabilizing()
{
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t out_min = _throttle_radio_min + _min_throttle;
// initialize limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = false;
limit.throttle_upper = false;
int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true;
}
if (_throttle_control_input >= _max_throttle) {
_throttle_control_input = _max_throttle;
limit.throttle_upper = true;
}
throttle_radio_output = calc_throttle_radio_output();
// front servo
_servo1.servo_out = 0;
// right servo
_servo2.servo_out = 0;
// rear servo
_servo3.servo_out = 0;
// left servo
_servo4.servo_out = 0;
_servo1.calc_pwm();
_servo2.calc_pwm();
_servo3.calc_pwm();
_servo4.calc_pwm();
if (throttle_radio_output >= out_min) {
throttle_radio_output = apply_thrust_curve_and_volt_scaling(throttle_radio_output, out_min, _throttle_radio_max);
}
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, _servo1.radio_out);
rc_write(AP_MOTORS_MOT_2, _servo2.radio_out);
rc_write(AP_MOTORS_MOT_3, _servo3.radio_out);
rc_write(AP_MOTORS_MOT_4, _servo4.radio_out);
rc_write(AP_MOTORS_MOT_7, throttle_radio_output);
hal.rcout->push();
}
// sends commands to the motors // sends commands to the motors
// TODO pull code that is common to output_armed_not_stabilizing into helper functions
void AP_MotorsSingle::output_armed_stabilizing() void AP_MotorsSingle::output_armed_stabilizing()
{ {
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900 int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900

1
libraries/AP_Motors/AP_MotorsSingle.h
View File

@ -60,7 +60,6 @@ public:
protected: protected:
// output - sends commands to the motors // output - sends commands to the motors
void output_armed_stabilizing(); void output_armed_stabilizing();
void output_armed_not_stabilizing();
void output_disarmed(); void output_disarmed();
AP_Int8 _rev_roll; // REV Roll feedback AP_Int8 _rev_roll; // REV Roll feedback