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AP_MotorsHeli_Single: write_aux uses 0 to 1 range

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This commit is contained in:
Randy Mackay 2016-02-03 17:58:01 +09:00
parent b3334c3ae5
commit 68945df45d
2 changed files with 10 additions and 13 deletions
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19
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -189,9 +189,9 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
// external gyro & tail servo
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro);
write_aux(_ext_gyro_gain_acro/1000.0f);
} else {
write_aux(_ext_gyro_gain_std);
write_aux(_ext_gyro_gain_std/1000.0f);
}
}
rc_write(AP_MOTORS_MOT_4, pwm);
@ -440,24 +440,21 @@ void AP_MotorsHeli_Single::move_yaw(float yaw_out)
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro);
write_aux(_ext_gyro_gain_acro/1000.0f);
} else {
write_aux(_ext_gyro_gain_std);
write_aux(_ext_gyro_gain_std/1000.0f);
}
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
// output yaw servo to tail rsc
// To-Do: fix this messy calculation
write_aux((yaw_out*0.5f+1.0f) * 1000.0f);
write_aux(yaw_out*0.5f+1.0f);
}
}
// write_aux - outputs pwm onto output aux channel (ch7)
// servo_out parameter is of the range 0 ~ 1000
void AP_MotorsHeli_Single::write_aux(int16_t servo_out)
// write_aux - converts servo_out parameter value (0 to 1 range) to pwm and outputs to aux channel (ch7)
void AP_MotorsHeli_Single::write_aux(float servo_out)
{
_servo_aux.servo_out = servo_out;
_servo_aux.calc_pwm();
rc_write(AP_MOTORS_HELI_SINGLE_AUX, _servo_aux.radio_out);
rc_write(AP_MOTORS_HELI_SINGLE_AUX, calc_pwm_output_0to1(servo_out, _servo_aux));
}
// servo_test - move servos through full range of movement

4
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -132,8 +132,8 @@ protected:
// move_yaw - moves the yaw servo
void move_yaw(float yaw_out);
// write_aux - outputs pwm onto output aux channel (ch7). servo_out parameter is of the range 0 ~ 1000
void write_aux(int16_t servo_out);
// write_aux - converts servo_out parameter value (0 to 1 range) to pwm and outputs to aux channel (ch7)
void write_aux(float servo_out);
// servo_test - move servos through full range of movement
void servo_test();