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AP_Motors: Corrected the parameters.

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UbhayAnand1 2023-01-28 01:48:52 +05:30 committed by Randy Mackay
parent 18f0fc50d5
commit 5da7ad025b
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -82,10 +82,10 @@ void AP_MotorsSingle::output_to_motors()
for (uint8_t i = 0; i < NUM_ACTUATORS; i++) { for (uint8_t i = 0; i < NUM_ACTUATORS; i++) {
rc_write_angle(AP_MOTORS_MOT_1 + i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); rc_write_angle(AP_MOTORS_MOT_1 + i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
} }
set_actuator_with_slew(_actuator[5], actuator_spin_up_to_ground_idle()); set_actuator_with_slew(_actuator[AP_MOTORS_MOT_5], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[6], actuator_spin_up_to_ground_idle()); set_actuator_with_slew(_actuator[AP_MOTORS_MOT_6], actuator_spin_up_to_ground_idle());
rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5])); rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[AP_MOTORS_MOT_5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6])); rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[AP_MOTORS_MOT_6]));
break; break;
case SpoolState::SPOOLING_UP: case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED: case SpoolState::THROTTLE_UNLIMITED:
@ -94,10 +94,10 @@ void AP_MotorsSingle::output_to_motors()
for (uint8_t i = 0; i < NUM_ACTUATORS; i++) { for (uint8_t i = 0; i < NUM_ACTUATORS; i++) {
rc_write_angle(AP_MOTORS_MOT_1 + i, _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); rc_write_angle(AP_MOTORS_MOT_1 + i, _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
} }
set_actuator_with_slew(_actuator[5], thrust_to_actuator(_thrust_out)); set_actuator_with_slew(_actuator[AP_MOTORS_MOT_5], thrust_to_actuator(_thrust_out));
set_actuator_with_slew(_actuator[6], thrust_to_actuator(_thrust_out)); set_actuator_with_slew(_actuator[AP_MOTORS_MOT_6], thrust_to_actuator(_thrust_out));
rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5])); rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[AP_MOTORS_MOT_5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6])); rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[AP_MOTORS_MOT_6]));
break; break;
} }
} }