mirror of https://github.com/ArduPilot/ardupilot
Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED
Removed special purpose spin_unsafe function renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
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@ -124,8 +124,13 @@ void AP_MotorsMatrix::output_armed()
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// if we are not sending a throttle output, we cut the motors
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if (_rc_throttle->servo_out == 0) {
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for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
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// range check spin_when_armed
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if (_spin_when_armed < 0) {
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_spin_when_armed = 0;
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}
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// spin motors at minimum
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if (motor_enabled[i]) {
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motor_out[i] = _rc_throttle->radio_min + constrain_int16(_throttle_unsafe,0,AP_MOTORS_THROTTLE_UNSAFE_MAX);
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motor_out[i] = _rc_throttle->radio_min + _spin_when_armed;
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}
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}
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@ -453,19 +458,6 @@ void AP_MotorsMatrix::output_disarmed()
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output_min();
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}
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void AP_MotorsMatrix::output_unsafe()
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{
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int8_t i;
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// fill the motor_out[] array for HIL use and send minimum value to each motor
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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motor_out[i] = _rc_throttle->radio_min + constrain_int16(_throttle_unsafe,0,AP_MOTORS_THROTTLE_UNSAFE_MAX);;
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hal.rcout->write(_motor_to_channel_map[i], motor_out[i]);
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}
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}
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}
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// output_disarmed - sends commands to the motors
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void AP_MotorsMatrix::output_test()
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{
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@ -51,8 +51,6 @@ public:
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// add_motor using just position and yaw_factor (or prop direction)
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void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
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void output_unsafe();
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// remove_motor
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void remove_motor(int8_t motor_num);
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@ -35,11 +35,11 @@ const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
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// @Range: 20 80
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AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
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// @Param: UNSAFE_THR
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// @DisplayName: Armed min throttle
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// @Description: Throttle setting used to signal that the copter is armed or otherwise unsafe to approach
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// @Range: 0 150
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AP_GROUPINFO("UNSAFE_THR", 4, AP_Motors, _throttle_unsafe, AP_MOTORS_THROTTLE_UNSAFE),
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// @Param: SPIN_ARMED
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// @DisplayName: Motors always spin when armed
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// @Description: Controls whether motors always spin when armed
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// @Values: 0:Do Not Spin,50:Slow,90:Medium,130:Fast
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AP_GROUPINFO("SPIN_ARMED", 4, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
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AP_GROUPEND
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};
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@ -45,8 +45,7 @@
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#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)
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#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)
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#define AP_MOTORS_THROTTLE_UNSAFE 75
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#define AP_MOTORS_THROTTLE_UNSAFE_MAX 150
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#define AP_MOTORS_SPIN_WHEN_ARMED 0 // spin motors when armed disabled by default
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// bit mask for recording which limits we have reached when outputting to motors
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#define AP_MOTOR_NO_LIMITS_REACHED 0x00
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@ -86,8 +85,6 @@ public:
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// enable - starts allowing signals to be sent to motors
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virtual void enable() = 0;
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virtual void output_unsafe() = 0;
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// arm, disarm or check status status of motors
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bool armed() { return _armed; };
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void armed(bool arm) { _armed = arm; };
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@ -154,7 +151,7 @@ protected:
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// for new stability patch
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int16_t _hover_out; // the estimated hover throttle in pwm (i.e. 1000 ~ 2000). calculated from the THR_MID parameter
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//Throttle setting used to signal that the copter is armed or otherwise unsafe to approach
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AP_Int16 _throttle_unsafe;
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AP_Int8 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
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};
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#endif // __AP_MOTORS_CLASS_H__
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