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AP_MotorsHeli: remove reset_radio_passthrough

This commit is contained in:
Randy Mackay 2016-02-06 10:42:10 +09:00
parent b5593431bf
commit 4f1e62d551
2 changed files with 3 additions and 13 deletions
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13
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -175,6 +175,9 @@ void AP_MotorsHeli::Init()
// ensure inputs are not passed through to servos on start-up // ensure inputs are not passed through to servos on start-up
_servo_mode = SERVO_CONTROL_MODE_AUTOMATED; _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
// initialise radio passthrough for collective to middle
_throttle_radio_passthrough = 0.5f;
// initialise Servo/PWM ranges and endpoints // initialise Servo/PWM ranges and endpoints
init_outputs(); init_outputs();
@ -355,19 +358,9 @@ void AP_MotorsHeli::update_throttle_filter()
_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate); _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
} }
// reset_radio_passthrough used to reset all radio inputs to center
void AP_MotorsHeli::reset_radio_passthrough()
{
_roll_radio_passthrough = 0.0f;
_pitch_radio_passthrough = 0.0f;
_throttle_radio_passthrough = 0.5f;
_yaw_radio_passthrough = 0.0f;
}
// reset_flight_controls - resets all controls and scalars to flight status // reset_flight_controls - resets all controls and scalars to flight status
void AP_MotorsHeli::reset_flight_controls() void AP_MotorsHeli::reset_flight_controls()
{ {
reset_radio_passthrough();
_servo_mode = SERVO_CONTROL_MODE_AUTOMATED; _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
init_outputs(); init_outputs();
calculate_scalars(); calculate_scalars();

3
libraries/AP_Motors/AP_MotorsHeli.h
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@ -128,9 +128,6 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict // this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask() = 0; virtual uint16_t get_motor_mask() = 0;
// reset_radio_passthrough used to reset all radio inputs to center
void reset_radio_passthrough();
// servo_test - move servos through full range of movement // servo_test - move servos through full range of movement
// to be overloaded by child classes, different vehicle types would have different movement patterns // to be overloaded by child classes, different vehicle types would have different movement patterns
virtual void servo_test() = 0; virtual void servo_test() = 0;