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Copter: Create new heli RSC RC Channel object.

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This commit is contained in:
Robert Lefebvre 2015-07-27 20:01:55 -04:00 committed by Randy Mackay
parent cefa0c28a6
commit 990761a13b
3 changed files with 7 additions and 1 deletions
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2
ArduCopter/Copter.cpp
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@ -31,7 +31,7 @@ Copter::Copter(void) :
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
control_mode(STABILIZE),
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
motors(g.rc_7, g.rc_8, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
motors(MAIN_LOOP_RATE),
#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps

3
ArduCopter/Parameters.cpp
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@ -516,6 +516,9 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @Group: HS4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_4, "HS4_", RC_Channel),
// @Group: H_RSC_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_rsc, "H_RSC_", RC_Channel),
// @Param: H_STAB_COL_MIN
// @DisplayName: Heli Stabilize Throttle Collective Minimum

3
ArduCopter/Parameters.h
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@ -161,6 +161,7 @@ public:
k_param_heli_yaw_ff, // remove
k_param_heli_stab_col_min,
k_param_heli_stab_col_max, // 88
k_param_heli_servo_rsc, // 89 = full!
//
// 90: misc2
@ -437,6 +438,7 @@ public:
#if FRAME_CONFIG == HELI_FRAME
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
RC_Channel heli_servo_rsc; // servo for rotor speed control output
AP_Int16 heli_stab_col_min; // min collective while pilot directly controls collective in stabilize mode
AP_Int16 heli_stab_col_max; // min collective while pilot directly controls collective in stabilize mode
#endif
@ -515,6 +517,7 @@ public:
heli_servo_2 (CH_2),
heli_servo_3 (CH_3),
heli_servo_4 (CH_4),
heli_servo_rsc (CH_8),
#endif
#if FRAME_CONFIG == SINGLE_FRAME
single_servo_1 (CH_1),