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Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED

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Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
This commit is contained in:
Randy Mackay 2013-07-16 12:45:40 +09:00
parent e6412b6996
commit 6477c746cd
4 changed files with 14 additions and 27 deletions
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20
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -124,8 +124,13 @@ void AP_MotorsMatrix::output_armed()
// if we are not sending a throttle output, we cut the motors // if we are not sending a throttle output, we cut the motors
if (_rc_throttle->servo_out == 0) { if (_rc_throttle->servo_out == 0) {
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) { for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
// range check spin_when_armed
if (_spin_when_armed < 0) {
_spin_when_armed = 0;
}
// spin motors at minimum
if (motor_enabled[i]) { if (motor_enabled[i]) {
motor_out[i] = _rc_throttle->radio_min + constrain_int16(_throttle_unsafe,0,AP_MOTORS_THROTTLE_UNSAFE_MAX); motor_out[i] = _rc_throttle->radio_min + _spin_when_armed;
} }
} }
@ -453,19 +458,6 @@ void AP_MotorsMatrix::output_disarmed()
output_min(); output_min();
} }
void AP_MotorsMatrix::output_unsafe()
{
int8_t i;
// fill the motor_out[] array for HIL use and send minimum value to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
motor_out[i] = _rc_throttle->radio_min + constrain_int16(_throttle_unsafe,0,AP_MOTORS_THROTTLE_UNSAFE_MAX);;
hal.rcout->write(_motor_to_channel_map[i], motor_out[i]);
}
}
}
// output_disarmed - sends commands to the motors // output_disarmed - sends commands to the motors
void AP_MotorsMatrix::output_test() void AP_MotorsMatrix::output_test()
{ {

2
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -50,8 +50,6 @@ public:
// add_motor using just position and yaw_factor (or prop direction) // add_motor using just position and yaw_factor (or prop direction)
void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order); void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
void output_unsafe();
// remove_motor // remove_motor
void remove_motor(int8_t motor_num); void remove_motor(int8_t motor_num);

10
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -35,11 +35,11 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// @Range: 20 80 // @Range: 20 80
AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST), AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
// @Param: UNSAFE_THR // @Param: SPIN_ARMED
// @DisplayName: Armed min throttle // @DisplayName: Motors always spin when armed
// @Description: Throttle setting used to signal that the copter is armed or otherwise unsafe to approach // @Description: Controls whether motors always spin when armed
// @Range: 0 150 // @Values: 0:Do Not Spin,50:Slow,90:Medium,130:Fast
AP_GROUPINFO("UNSAFE_THR", 4, AP_Motors, _throttle_unsafe, AP_MOTORS_THROTTLE_UNSAFE), AP_GROUPINFO("SPIN_ARMED", 4, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
AP_GROUPEND AP_GROUPEND
}; };

9
libraries/AP_Motors/AP_Motors_Class.h
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@ -45,8 +45,7 @@
#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100) #define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100) #define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define AP_MOTORS_THROTTLE_UNSAFE 75 #define AP_MOTORS_SPIN_WHEN_ARMED 0 // spin motors when armed disabled by default
#define AP_MOTORS_THROTTLE_UNSAFE_MAX 150
// bit mask for recording which limits we have reached when outputting to motors // bit mask for recording which limits we have reached when outputting to motors
#define AP_MOTOR_NO_LIMITS_REACHED 0x00 #define AP_MOTOR_NO_LIMITS_REACHED 0x00
@ -85,8 +84,6 @@ public:
// enable - starts allowing signals to be sent to motors // enable - starts allowing signals to be sent to motors
virtual void enable() = 0; virtual void enable() = 0;
virtual void output_unsafe() = 0;
// arm, disarm or check status status of motors // arm, disarm or check status status of motors
bool armed() { return _armed; }; bool armed() { return _armed; };
@ -154,7 +151,7 @@ protected:
// for new stability patch // for new stability patch
int16_t _hover_out; // the estimated hover throttle in pwm (i.e. 1000 ~ 2000). calculated from the THR_MID parameter int16_t _hover_out; // the estimated hover throttle in pwm (i.e. 1000 ~ 2000). calculated from the THR_MID parameter
//Throttle setting used to signal that the copter is armed or otherwise unsafe to approach
AP_Int16 _throttle_unsafe; AP_Int8 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
}; };
#endif // __AP_MOTORS_CLASS_H__ #endif // __AP_MOTORS_CLASS_H__