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AP_MotorsTri: remove output_armed_not_stabilizing

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This commit is contained in:
Leonard Hall 2016-01-20 10:32:36 +09:00 committed by Randy Mackay
parent 397940a9a4
commit a2fdcfaf3f
2 changed files with 0 additions and 52 deletions
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51
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -136,58 +136,7 @@ uint16_t AP_MotorsTri::get_motor_mask()
(1U << AP_MOTORS_CH_TRI_YAW);
}
void AP_MotorsTri::output_armed_not_stabilizing()
{
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t out_min = _throttle_radio_min + _min_throttle;
int16_t out_max = _throttle_radio_max;
int16_t motor_out[AP_MOTORS_MOT_4+1];
// initialize limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = false;
limit.throttle_upper = false;
int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true;
}
if (_throttle_control_input >= _hover_out) {
_throttle_control_input = _hover_out;
limit.throttle_upper = true;
}
throttle_radio_output = calc_throttle_radio_output();
motor_out[AP_MOTORS_MOT_1] = throttle_radio_output;
motor_out[AP_MOTORS_MOT_2] = throttle_radio_output;
motor_out[AP_MOTORS_MOT_4] = throttle_radio_output;
if(throttle_radio_output >= out_min) {
// adjust for thrust curve and voltage scaling
motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
}
hal.rcout->cork();
// send output to each motor
rc_write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
rc_write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
rc_write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
// send centering signal to yaw servo
rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
hal.rcout->push();
}
// sends commands to the motors
// TODO pull code that is common to output_armed_not_stabilizing into helper functions
void AP_MotorsTri::output_armed_stabilizing()
{
int16_t roll_pwm; // roll pwm value, initially calculated by calc_roll_pwm() but may be modified after, +/- 400

1
libraries/AP_Motors/AP_MotorsTri.h
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@ -50,7 +50,6 @@ public:
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_not_stabilizing();
void output_disarmed();
// calc_yaw_radio_output - calculate final radio output for yaw channel