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AP_Motors: motor_to_channel_map moved to progmem

This commit is contained in:
Randy Mackay 2014-02-10 15:58:24 +09:00 committed by Andrew Tridgell
parent 1b8055aed9
commit 96d433c63e
2 changed files with 13 additions and 21 deletions
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18
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -24,6 +24,15 @@
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
// initialise motor map
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM1_MOTOR_TO_CHANNEL_MAP};
#else
const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM2_MOTOR_TO_CHANNEL_MAP};
#endif
// parameters for the motor class
const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// 0 was used by TB_RATIO
@ -77,13 +86,6 @@ AP_Motors::AP_Motors( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_
AP_Param::setup_object_defaults(this, var_info);
// initialise motor map
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
#else
set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
#endif
// slow start motors from zero to min throttle
_flags.slow_start_low_end = true;
};
@ -124,7 +126,7 @@ void AP_Motors::throttle_pass_through()
// send the pilot's input directly to each enabled motor
for (int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
hal.rcout->write(_motor_to_channel_map[i], _rc_throttle.radio_in);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), _rc_throttle.radio_in);
}
}
}

16
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -73,18 +73,6 @@ public:
// init
virtual void Init();
// set mapping from motor number to RC channel
void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
_motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
_motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
_motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
_motor_to_channel_map[AP_MOTORS_MOT_4] = mot_4;
_motor_to_channel_map[AP_MOTORS_MOT_5] = mot_5;
_motor_to_channel_map[AP_MOTORS_MOT_6] = mot_6;
_motor_to_channel_map[AP_MOTORS_MOT_7] = mot_7;
_motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
}
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
@ -164,6 +152,9 @@ protected:
uint8_t slow_start_low_end : 1; // 1 just after arming so we can ramp up the spin_when_armed value
} _flags;
// mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
static const uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM;
// parameters
AP_CurveInt16_Size4 _throttle_curve; // curve used to linearize the pwm->thrust
AP_Int8 _throttle_curve_enabled; // enable throttle curve
@ -176,7 +167,6 @@ protected:
RC_Channel& _rc_pitch; // pitch input in from users is held in servo_out
RC_Channel& _rc_throttle; // throttle input in from users is held in servo_out
RC_Channel& _rc_yaw; // yaw input in from users is held in servo_out
uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
uint16_t _speed_hz; // speed in hz to send updates to motors
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)