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Copter: AP_MotorsCoax now uses 4 servos

This commit is contained in:
Leonard Hall 2015-12-29 21:41:33 +10:30 committed by Randy Mackay
parent 1174ad3e66
commit a00a9601a4
3 changed files with 10 additions and 2 deletions
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2
ArduCopter/Copter.cpp
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@ -36,7 +36,7 @@ Copter::Copter(void) :
#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps
motors(g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4, MAIN_LOOP_RATE),
#elif FRAME_CONFIG == COAX_FRAME // single constructor requires extra servos for flaps
motors(g.single_servo_1, g.single_servo_2, MAIN_LOOP_RATE),
motors(g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4, MAIN_LOOP_RATE),
#else
motors(MAIN_LOOP_RATE),
#endif

6
ArduCopter/Parameters.cpp
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@ -1024,6 +1024,12 @@ const AP_Param::Info Copter::var_info[] = {
// @Group: SS2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_2, "SS2_", RC_Channel),
// @Group: SS3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_3, "SS3_", RC_Channel),
// @Group: SS4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(single_servo_4, "SS4_", RC_Channel),
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_MotorsCoax.cpp
GOBJECT(motors, "MOT_", AP_MotorsCoax),

4
ArduCopter/Parameters.h
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@ -465,7 +465,7 @@ public:
#if FRAME_CONFIG == COAX_FRAME
// Coax copter flaps
RC_Channel single_servo_1, single_servo_2; // servos for two flaps
RC_Channel single_servo_1, single_servo_2, single_servo_3, single_servo_4; // servos for four flaps
#endif
// RC channels
@ -541,6 +541,8 @@ public:
#if FRAME_CONFIG == COAX_FRAME
single_servo_1 (CH_1),
single_servo_2 (CH_2),
single_servo_3 (CH_3),
single_servo_4 (CH_4),
#endif
rc_1 (CH_1),