Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: Add throttle interlock functionality 

AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
This commit is contained in:
Robert Lefebvre 2015-04-17 11:58:26 -04:00 committed by Randy Mackay
parent 4a0a4de687
commit 6bdace30d2
2 changed files with 11 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -190,7 +190,9 @@ void AP_Motors::output()
update_throttle_low_comp();
if (_flags.armed) {
if (_flags.stabilizing) {
if (!_flags.interlock) {
output_armed_zero_throttle();
} else if (_flags.stabilizing) {
output_armed_stabilizing();
} else {
output_armed_not_stabilizing();

8
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -104,6 +104,12 @@ public:
bool armed() const { return _flags.armed; };
void armed(bool arm);
// set motor interlock status
void set_interlock(bool set) { _flags.interlock = set;}
// get motor interlock status
bool get_interlock() const { return _flags.interlock; };
// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
void set_min_throttle(uint16_t min_throttle);
@ -208,6 +214,7 @@ protected:
// output functions that should be overloaded by child classes
virtual void output_armed_stabilizing()=0;
virtual void output_armed_not_stabilizing()=0;
virtual void output_armed_zero_throttle() { output_min(); }
virtual void output_disarmed()=0;
// update the throttle input filter
@ -244,6 +251,7 @@ protected:
uint8_t frame_orientation : 4; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3, NEW_PLUS_FRAME 10, NEW_X_FRAME, NEW_V_FRAME, NEW_H_FRAME
uint8_t slow_start : 1; // 1 if slow start is active
uint8_t slow_start_low_end : 1; // 1 just after arming so we can ramp up the spin_when_armed value
uint8_t interlock : 1; // 1 if the motor interlock is enabled, 0 if disabled
} _flags;
// mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2