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AP_Motors:tradheli-swash library general clean up

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This commit is contained in:
bnsgeyer 2019-03-16 08:02:59 -04:00 committed by Randy Mackay
parent 2fc942ac24
commit 79b069afc3
5 changed files with 10 additions and 26 deletions
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16
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -271,13 +271,9 @@ void AP_MotorsHeli_Dual::calculate_scalars()
// configure swashplate 1 and update scalars
if (_swashplate1_type == SWASHPLATE_TYPE_H3) {
if (_swashplate1.get_enable() == 0) {
_swashplate1.set_enable(1);
}
_swashplate1.set_enable(1);
} else {
if (_swashplate1.get_enable() == 1) {
_swashplate1.set_enable(0);
}
_swashplate1.set_enable(0);
}
_swashplate1.set_swash_type(static_cast<SwashPlateType>(_swashplate1_type.get()));
_swashplate1.set_collective_direction(static_cast<CollectiveDirection>(_swash1_coll_dir.get()));
@ -285,13 +281,9 @@ void AP_MotorsHeli_Dual::calculate_scalars()
// configure swashplate 2 and update scalars
if (_swashplate2_type == SWASHPLATE_TYPE_H3) {
if (_swashplate2.get_enable() == 0) {
_swashplate2.set_enable(1);
}
_swashplate2.set_enable(1);
} else {
if (_swashplate2.get_enable() == 1) {
_swashplate2.set_enable(0);
}
_swashplate2.set_enable(0);
}
_swashplate2.set_swash_type(static_cast<SwashPlateType>(_swashplate2_type.get()));
_swashplate2.set_collective_direction(static_cast<CollectiveDirection>(_swash2_coll_dir.get()));

8
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -251,13 +251,9 @@ void AP_MotorsHeli_Single::calculate_scalars()
// configure swashplate and update scalars
if (_swashplate_type == SWASHPLATE_TYPE_H3) {
if (_swashplate.get_enable() == 0) {
_swashplate.set_enable(1);
}
_swashplate.set_enable(1);
} else {
if (_swashplate.get_enable() == 1) {
_swashplate.set_enable(0);
}
_swashplate.set_enable(0);
}
_swashplate.set_swash_type(static_cast<SwashPlateType>(_swashplate_type.get()));
_swashplate.set_collective_direction(static_cast<CollectiveDirection>(_swash_coll_dir.get()));

2
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -132,7 +132,7 @@ protected:
float _servo5_out = 0.0f; // output value sent to motor
// parameters
AP_Int8 _swash_coll_dir; // Collective control direction, normal or reversed
AP_Int8 _swash_coll_dir; // Collective control direction, normal or reversed
AP_Int16 _tail_type; // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
AP_Int8 _swashplate_type; // Swash Type Setting
AP_Int16 _ext_gyro_gain_std; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro

7
libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
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@ -180,14 +180,11 @@ float AP_MotorsHeli_Swash::get_servo_out(int8_t ch_num, float pitch, float roll,
// set_linear_servo_out - sets swashplate servo output to be linear
float AP_MotorsHeli_Swash::get_linear_servo_output(float input) const
{
float ret;
input = constrain_float(input, -1.0f, 1.0f);
//servo output is normalized to 0.866 for a linear throw
ret = asin(0.766044f * input) * 1.145916;
return ret;
//servo output is calculated by normalizing input to 50 deg arm rotation as full input for a linear throw
return safe_asin(0.766044f * input) * 1.145916;
}

3
libraries/AP_Motors/AP_MotorsHeli_Swash.h
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@ -52,9 +52,8 @@ public:
// allow parameters to be enabled
void set_enable(int8_t setenable) {enable = setenable; }
int8_t get_enable() { return enable; }
//
// get_phase_angle - returns the rotor phase angle which is used to remove coupling between pitch and roll axes
int16_t get_phase_angle() const { return _phase_angle; }
// var_info