Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_MotorsUGV: ignore servo reverse when setting trim for brushed with relay

Browse Source
This commit is contained in:
Iampete1 2021-08-29 12:52:24 +01:00 committed by Randy Mackay
parent 7e1716eaeb
commit 950dcf9242
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AR_Motors/AP_MotorsUGV.cpp
View File

@ -145,9 +145,10 @@ void AP_MotorsUGV::setup_safety_output()
{
if (_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) {
// set trim to min to set duty cycle range (0 - 100%) to servo range
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleLeft);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight);
// ignore servo revese flag, it is used by the relay
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle, true);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleLeft, true);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight, true);
}
// stop sending pwm if main CPU fails