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Plane: added support for rear motor tilt 

needed for X8 tilt tri test aircraft for this PR
This commit is contained in:
Andrew Tridgell 2020-12-18 21:54:08 +11:00
parent 7f3a851dd3
commit 8e3c6124eb
3 changed files with 15 additions and 0 deletions
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3
ArduPlane/quadplane.cpp
View File

@ -766,6 +766,9 @@ bool QuadPlane::setup(void)
// setup tilt servos for vectored yaw
SRV_Channels::set_range(SRV_Channel::k_tiltMotorLeft, 1000);
SRV_Channels::set_range(SRV_Channel::k_tiltMotorRight, 1000);
SRV_Channels::set_range(SRV_Channel::k_tiltMotorRear, 1000);
SRV_Channels::set_range(SRV_Channel::k_tiltMotorRearLeft, 1000);
SRV_Channels::set_range(SRV_Channel::k_tiltMotorRearRight, 1000);
}
}

3
ArduPlane/servos.cpp
View File

@ -737,6 +737,9 @@ void Plane::force_flare(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_motor_tilt, tilt);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, tilt);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearLeft, tilt);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearRight, tilt);
float throttle_min = MAX(aparm.throttle_min.get(),0); //allows ICE to run if used but accounts for reverse thrust setups
if (arming.is_armed()) { //prevent running motors if unarmed
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle_min);

9
ArduPlane/tiltrotor.cpp
View File

@ -344,6 +344,9 @@ void QuadPlane::tiltrotor_vectored_yaw(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 1000 * constrain_float(base_output + yaw_out * yaw_range,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 1000 * constrain_float(base_output - yaw_out * yaw_range,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, 1000 * constrain_float(base_output,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearLeft, 1000 * constrain_float(base_output + yaw_out * yaw_range,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearRight, 1000 * constrain_float(base_output - yaw_out * yaw_range,0,1));
}
return;
}
@ -353,6 +356,9 @@ void QuadPlane::tiltrotor_vectored_yaw(void)
if (no_yaw) {
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 1000 * base_output);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 1000 * base_output);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, 1000 * base_output);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearLeft, 1000 * base_output);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearRight, 1000 * base_output);
} else {
const float yaw_out = motors->get_yaw();
const float roll_out = motors->get_roll();
@ -370,6 +376,9 @@ void QuadPlane::tiltrotor_vectored_yaw(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 1000 * constrain_float(base_output + tilt_offset * yaw_range,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 1000 * constrain_float(base_output - tilt_offset * yaw_range,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, 1000 * constrain_float(base_output,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearLeft, 1000 * constrain_float(base_output + tilt_offset * yaw_range,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearRight, 1000 * constrain_float(base_output - tilt_offset * yaw_range,0,1));
}
}