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AP_MotorsHeliSingle: move_yaw in -1 to +1 range

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This commit is contained in:
Randy Mackay 2016-02-02 21:25:31 +09:00
parent f6120b801b
commit 71866be652
2 changed files with 12 additions and 9 deletions
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19
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -436,17 +436,19 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
} }
// move_yaw // move_yaw
void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out) void AP_MotorsHeli_Single::move_yaw(float yaw_out)
{ {
_yaw_servo.servo_out = constrain_int16(yaw_out, -4500, 4500); // sanity check yaw_out
if (yaw_out < -1.0f) {
if (_yaw_servo.servo_out != yaw_out) { yaw_out = -1.0f;
limit.yaw = true;
}
if (yaw_out > 1.0f) {
yaw_out = 1.0f;
limit.yaw = true; limit.yaw = true;
} }
_yaw_servo.calc_pwm(); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
rc_write(AP_MOTORS_MOT_4, _yaw_servo.radio_out);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) { if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro // output gain to exernal gyro
@ -457,7 +459,8 @@ void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
} }
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) { } else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
// output yaw servo to tail rsc // output yaw servo to tail rsc
write_aux(_yaw_servo.servo_out); // To-Do: fix this messy calculation
write_aux((yaw_out*0.5f+1.0f) * 1000.0f);
} }
} }

2
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -146,7 +146,7 @@ protected:
void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out); void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out);
// move_yaw - moves the yaw servo // move_yaw - moves the yaw servo
void move_yaw(int16_t yaw_out); void move_yaw(float yaw_out);
// write_aux - outputs pwm onto output aux channel (ch7). servo_out parameter is of the range 0 ~ 1000 // 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); void write_aux(int16_t servo_out);