Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsHeli: Swash: Make motor numbers const

This commit is contained in:
MattKear 2024-05-03 22:03:26 +01:00 committed by Bill Geyer
parent 4320063bd6
commit 7b02a99d14
2 changed files with 3 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Motors/AP_MotorsHeli_Swash.cpp
View File

@ -88,13 +88,9 @@ const AP_Param::GroupInfo AP_MotorsHeli_Swash::var_info[] = {
}; };
AP_MotorsHeli_Swash::AP_MotorsHeli_Swash(uint8_t mot_0, uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t instance) : AP_MotorsHeli_Swash::AP_MotorsHeli_Swash(uint8_t mot_0, uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t instance) :
_instance(instance) _instance(instance),
_motor_num{mot_0, mot_1, mot_2, mot_3}
{ {
_motor_num[0] = mot_0;
_motor_num[1] = mot_1;
_motor_num[2] = mot_2;
_motor_num[3] = mot_3;
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }

2
libraries/AP_Motors/AP_MotorsHeli_Swash.h
View File

@ -81,7 +81,7 @@ private:
float _pitchFactor[_max_num_servos]; // Pitch axis scaling of servo output based on servo position float _pitchFactor[_max_num_servos]; // Pitch axis scaling of servo output based on servo position
float _collectiveFactor[_max_num_servos]; // Collective axis scaling of servo output based on servo position float _collectiveFactor[_max_num_servos]; // Collective axis scaling of servo output based on servo position
float _output[_max_num_servos]; // Servo output value float _output[_max_num_servos]; // Servo output value
uint8_t _motor_num[_max_num_servos]; // Motor function to use for output const uint8_t _motor_num[_max_num_servos]; // Motor function to use for output
const uint8_t _instance; // Swashplate instance. Used for logging. const uint8_t _instance; // Swashplate instance. Used for logging.
// Variables stored for logging // Variables stored for logging