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AP_Motors: fixed col max and min for dual heli

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fixes H_SV_MAN behaviour
This commit is contained in:
Andrew Tridgell 2019-06-23 11:40:26 +10:00
parent 0f4c54aaa6
commit 8a49c84d57
2 changed files with 15 additions and 3 deletions
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17
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -166,8 +166,9 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
// init // init
void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_type) void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_type)
{ {
// remember frame type // remember frame class and type
_frame_type = frame_type; _frame_type = frame_type;
_frame_class = frame_class;
// set update rate // set update rate
set_update_rate(_speed_hz); set_update_rate(_speed_hz);
@ -293,14 +294,24 @@ void AP_MotorsHeli::output_disarmed()
_roll_in = 0.0f; _roll_in = 0.0f;
_pitch_in = 0.0f; _pitch_in = 0.0f;
_throttle_filter.reset(1.0f); _throttle_filter.reset(1.0f);
_yaw_in = 1.0f; if (_frame_class == MOTOR_FRAME_HELI_DUAL ||
_frame_class == MOTOR_FRAME_HELI_QUAD) {
_yaw_in = 0;
} else {
_yaw_in = 1;
}
break; break;
case SERVO_CONTROL_MODE_MANUAL_MIN: case SERVO_CONTROL_MODE_MANUAL_MIN:
// fixate min collective // fixate min collective
_roll_in = 0.0f; _roll_in = 0.0f;
_pitch_in = 0.0f; _pitch_in = 0.0f;
_throttle_filter.reset(0.0f); _throttle_filter.reset(0.0f);
_yaw_in = -1.0f; if (_frame_class == MOTOR_FRAME_HELI_DUAL ||
_frame_class == MOTOR_FRAME_HELI_QUAD) {
_yaw_in = 0;
} else {
_yaw_in = -1;
}
break; break;
case SERVO_CONTROL_MODE_MANUAL_OSCILLATE: case SERVO_CONTROL_MODE_MANUAL_OSCILLATE:
// use servo_test function from child classes // use servo_test function from child classes

1
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -224,4 +224,5 @@ protected:
uint8_t _servo_test_cycle_counter = 0; // number of test cycles left to run after bootup uint8_t _servo_test_cycle_counter = 0; // number of test cycles left to run after bootup
motor_frame_type _frame_type; motor_frame_type _frame_type;
motor_frame_class _frame_class;
}; };