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SRV_Channel: added k_throttleLeft and k_throttleRight

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support for differential thrust for yaw in twin engine planes
This commit is contained in:
Andrew Tridgell 2017-02-13 12:03:03 +11:00
parent 7845181f4b
commit 584fbf629b
3 changed files with 5 additions and 1 deletions
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2
libraries/SRV_Channel/SRV_Channel.cpp
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@ -64,7 +64,7 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
// @Param: FUNCTION
// @DisplayName: Servo output function
// @Description: Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
// @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute,28:EPM,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,68:Choke,69:Starter,70:Throttle,71:TrackerYaw,72:TrackerPitch
// @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute,28:EPM,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,68:Choke,69:Starter,70:Throttle,71:TrackerYaw,72:TrackerPitch,73:ThrottleLeft,74:ThrottleRight
// @User: Standard
AP_GROUPINFO("FUNCTION", 5, SRV_Channel, function, 0),

2
libraries/SRV_Channel/SRV_Channel.h
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@ -101,6 +101,8 @@ public:
k_throttle = 70,
k_tracker_yaw = 71, ///< antennatracker yaw
k_tracker_pitch = 72, ///< antennatracker pitch
k_throttleLeft = 73,
k_throttleRight = 74,
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t;

2
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -109,6 +109,8 @@ void SRV_Channel::aux_servo_function_setup(void)
set_angle(4500);
break;
case k_throttle:
case k_throttleLeft:
case k_throttleRight:
// fixed wing throttle
set_range(100);
break;