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AP_Motors: Tricopter: fix actuator indexing

This commit is contained in:
Iampete1 2024-02-24 14:28:00 +00:00 committed by Peter Hall
parent fee5374cb6
commit 744df1ceba
1 changed files with 13 additions and 15 deletions
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28
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -90,34 +90,32 @@ void AP_MotorsTri::output_to_motors()
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
rc_write(AP_MOTORS_MOT_1, output_to_pwm(0));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(0));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(0));
_actuator[AP_MOTORS_MOT_1] = 0.0;
_actuator[AP_MOTORS_MOT_2] = 0.0;
_actuator[AP_MOTORS_MOT_4] = 0.0;
rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
break;
case SpoolState::GROUND_IDLE:
// sends output to motors when armed but not flying
set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[2], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[4], actuator_spin_up_to_ground_idle());
rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_1], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_2], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_4], actuator_spin_up_to_ground_idle());
rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
case SpoolState::SPOOLING_DOWN:
// set motor output based on thrust requests
set_actuator_with_slew(_actuator[1], thr_lin.thrust_to_actuator(_thrust_right));
set_actuator_with_slew(_actuator[2], thr_lin.thrust_to_actuator(_thrust_left));
set_actuator_with_slew(_actuator[4], thr_lin.thrust_to_actuator(_thrust_rear));
rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_1], thr_lin.thrust_to_actuator(_thrust_right));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_2], thr_lin.thrust_to_actuator(_thrust_left));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_4], thr_lin.thrust_to_actuator(_thrust_rear));
rc_write_angle(AP_MOTORS_CH_TRI_YAW, degrees(_pivot_angle)*100);
break;
}
rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[AP_MOTORS_MOT_1]));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[AP_MOTORS_MOT_2]));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[AP_MOTORS_MOT_4]));
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)