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AP_Motors: fixed tricopter tail servo in fwd flight

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in quadplane forward flight the with tilt-tricopter tail servo needs to
be at its trim position. Thanks to Marco for noticing this.
This commit is contained in:
Andrew Tridgell 2017-05-09 09:05:30 +10:00 committed by Randy Mackay
parent b6568b1c7e
commit 46d9a1dcb5
3 changed files with 18 additions and 1 deletions
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2
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -87,7 +87,7 @@ public:
// output a thrust to all motors that match a given motor
// mask. This is used to control tiltrotor motors in forward
// flight. Thrust is in the range 0 to 1
void output_motor_mask(float thrust, uint8_t mask);
virtual void output_motor_mask(float thrust, uint8_t mask);
// get minimum or maximum pwm value that can be output to motors
int16_t get_pwm_output_min() const;

12
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -320,3 +320,15 @@ void AP_MotorsTri::thrust_compensation(void)
_thrust_rear = thrust[3];
}
}
/*
override tricopter tail servo output in output_motor_mask
*/
void AP_MotorsTri::output_motor_mask(float thrust, uint8_t mask)
{
// normal multicopter output
AP_MotorsMulticopter::output_motor_mask(thrust, mask);
// and override yaw servo
rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim());
}

5
libraries/AP_Motors/AP_MotorsTri.h
View File

@ -47,6 +47,11 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask();
// output a thrust to all motors that match a given motor
// mask. This is used to control tiltrotor motors in forward
// flight. Thrust is in the range 0 to 1
void output_motor_mask(float thrust, uint8_t mask) override;
protected:
// output - sends commands to the motors
void output_armed_stabilizing();