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AP_Motors: Coax: correct array indexnig offset

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Iampete1 2021-11-09 13:24:12 +00:00 committed by Randy Mackay
parent 291ab5b5f2
commit 6c29eb73d2
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -78,10 +78,10 @@ void AP_MotorsCoax::output_to_motors()
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_COAX_SERVO_INPUT_RANGE);
}
set_actuator_with_slew(_actuator[5], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[6], actuator_spin_up_to_ground_idle());
rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6]));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_5], 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[AP_MOTORS_MOT_5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[AP_MOTORS_MOT_6]));
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
@ -90,10 +90,10 @@ void AP_MotorsCoax::output_to_motors()
for (uint8_t i = 0; i < NUM_ACTUATORS; i++) {
rc_write_angle(AP_MOTORS_MOT_1 + i, _actuator_out[i] * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
}
set_actuator_with_slew(_actuator[5], thrust_to_actuator(_thrust_yt_ccw));
set_actuator_with_slew(_actuator[6], thrust_to_actuator(_thrust_yt_cw));
rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6]));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_5], thrust_to_actuator(_thrust_yt_ccw));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_6], thrust_to_actuator(_thrust_yt_cw));
rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[AP_MOTORS_MOT_5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[AP_MOTORS_MOT_6]));
break;
}
}