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AP_Motors: Example: allow setting of COL2YAW and autorotation flag

This commit is contained in:
Iampete1 2023-12-08 20:16:10 +00:00 committed by Andrew Tridgell
parent 5dcdd238a9
commit 6d546eed8f
1 changed files with 30 additions and 3 deletions
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33
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
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@ -38,6 +38,7 @@ SRV_Channels srvs;
AP_BattMonitor _battmonitor{0, nullptr, nullptr}; AP_BattMonitor _battmonitor{0, nullptr, nullptr};
AP_Motors *motors; AP_Motors *motors;
AP_MotorsHeli *motors_heli;
AP_MotorsMatrix *motors_matrix; AP_MotorsMatrix *motors_matrix;
bool thrust_boost = false; bool thrust_boost = false;
@ -175,7 +176,8 @@ void setup()
break; break;
case AP_Motors::MOTOR_FRAME_HELI: case AP_Motors::MOTOR_FRAME_HELI:
motors = new AP_MotorsHeli_Single(400); motors_heli = new AP_MotorsHeli_Single(400);
motors = motors_heli;
// Mot 1-3: Swash plate 1 to 3 // Mot 1-3: Swash plate 1 to 3
// Mot 4: Tail rotor // Mot 4: Tail rotor
// Mot 5: 4th servo in H4-90 swash // Mot 5: 4th servo in H4-90 swash
@ -186,13 +188,15 @@ void setup()
break; break;
case AP_Motors::MOTOR_FRAME_HELI_DUAL: case AP_Motors::MOTOR_FRAME_HELI_DUAL:
motors = new AP_MotorsHeli_Dual(400); motors_heli = new AP_MotorsHeli_Dual(400);
motors = motors_heli;
// Mot 1-3 swashplate 1, mot 4-6 swashplate 2, mot 7 and 8 for 4th servos on H4-90 swash plates front and back, respectively // Mot 1-3 swashplate 1, mot 4-6 swashplate 2, mot 7 and 8 for 4th servos on H4-90 swash plates front and back, respectively
num_outputs = 8; num_outputs = 8;
break; break;
case AP_Motors::MOTOR_FRAME_HELI_QUAD: case AP_Motors::MOTOR_FRAME_HELI_QUAD:
motors = new AP_MotorsHeli_Quad(400); motors_heli = new AP_MotorsHeli_Quad(400);
motors = motors_heli;
num_outputs = 4; // Only 4 collective servos num_outputs = 4; // Only 4 collective servos
break; break;
@ -215,6 +219,29 @@ void setup()
exit(1); exit(1);
} }
} else if (strcmp(cmd,"COL2YAW") == 0) {
if (frame_class != AP_Motors::MOTOR_FRAME_HELI) {
::printf("COL2YAW only supported by single heli frame type (%i), got %i\n", AP_Motors::MOTOR_FRAME_HELI, frame_class);
exit(1);
}
// Union allows pointers to be aligned despite different sizes
// avoids "increases required alignment of target type" error when casting from char* to AP_Int16*
union {
char *char_ptr;
AP_Float *ap_float;
} collective_yaw_scale;
collective_yaw_scale.char_ptr = (char*)motors + AP_MotorsHeli_Single::var_info[7].offset;
collective_yaw_scale.ap_float->set(value);
} else if (strcmp(cmd,"autorotation") == 0) {
if (motors_heli == nullptr) {
::printf("autorotation only supported by heli frame types, got %i\n", frame_class);
exit(1);
}
motors_heli->set_in_autorotation(!is_zero(value));
} else { } else {
::printf("Expected \"frame_class\", \"yaw_headroom\" or \"throttle_avg_max\"\n"); ::printf("Expected \"frame_class\", \"yaw_headroom\" or \"throttle_avg_max\"\n");
exit(1); exit(1);