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

ArduCopter - motors.pde - changed references to "motor_armed" to "motors.armed()" because we've moved to using the AP_Motors class. 

Simplified set_servos_4 function which was responsible for calling "output_motors_armed" or "output_motors_disarmed" as this determination as to whether the motors are armed or not is handled within the AP_Motors class.
This commit is contained in:
rmackay9 2012-04-04 22:58:42 +09:00
parent aa54458dcf
commit 905a445391
1 changed files with 5 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
ArduCopter/motors.pde
View File

@ -26,7 +26,7 @@ static void arm_motors()
arming_counter = 0;
}else if (arming_counter == ARM_DELAY){
if(motor_armed == false){
if(motors.armed() == false){
// arm the motors and configure for flight
init_arm_motors();
}
@ -46,7 +46,7 @@ static void arm_motors()
arming_counter = 0;
}else if (arming_counter == DISARM_DELAY){
if(motor_armed == true){
if(motors.armed()){
// arm the motors and configure for flight
init_disarm_motors();
}
@ -82,8 +82,7 @@ static void init_arm_motors()
if (gcs3.initialised) {
Serial3.set_blocking_writes(false);
}
motor_armed = true;
motors.armed(true);
#if PIEZO_ARMING == 1
piezo_beep();
@ -130,7 +129,7 @@ static void init_disarm_motors()
gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
#endif
motor_armed = false;
motors.armed(false);
compass.save_offsets();
g.throttle_cruise.save();
@ -149,25 +148,6 @@ static void init_disarm_motors()
static void
set_servos_4()
{
if (motor_armed == true && motor_auto_armed == true) {
// creates the radio_out and pwm_out values
output_motors_armed();
} else{
output_motors_disarmed();
}
}
int ch_of_mot( int mot ) {
switch (mot) {
case 1: return MOT_1;
case 2: return MOT_2;
case 3: return MOT_3;
case 4: return MOT_4;
case 5: return MOT_5;
case 6: return MOT_6;
case 7: return MOT_7;
case 8: return MOT_8;
}
return (-1);
motors.output();
}