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Rover: solve servo reverse in brushed configuration

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This commit is contained in:
khancyr 2017-08-07 13:12:44 +02:00 committed by Randy Mackay
parent b0c7766197
commit 46e6057493
1 changed files with 9 additions and 2 deletions
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11
APMrover2/AP_MotorsUGV.cpp
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@ -300,18 +300,25 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
// set relay if necessary // set relay if necessary
if (_pwm_type == PWM_TYPE_BRUSHED) { if (_pwm_type == PWM_TYPE_BRUSHED) {
// find the output channel, if not found return
const SRV_Channel *out_chan = SRV_Channels::get_channel_for(function);
if (out_chan == nullptr) {
return;
}
bool relay_high = out_chan->get_reversed() ? !is_negative(throttle) : is_negative(throttle);
switch (function) { switch (function) {
case SRV_Channel::k_throttle: case SRV_Channel::k_throttle:
case SRV_Channel::k_throttleLeft: case SRV_Channel::k_throttleLeft:
_relayEvents.do_set_relay(0, is_negative(throttle)); _relayEvents.do_set_relay(0, relay_high);
break; break;
case SRV_Channel::k_throttleRight: case SRV_Channel::k_throttleRight:
_relayEvents.do_set_relay(1, is_negative(throttle)); _relayEvents.do_set_relay(1, relay_high);
break; break;
default: default:
// do nothing // do nothing
break; break;
} }
// brushed-with-relay motors should receive positive values
throttle = fabsf(throttle); throttle = fabsf(throttle);
} }