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AP_Motors: remove auto_armed

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redundant flag that was already held in the main code which is where it
belongs.
This commit is contained in:
Randy Mackay 2013-04-17 21:27:18 +09:00
parent d2bd818b2d
commit a656b619f5
5 changed files with 1 additions and 30 deletions
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6
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -250,12 +250,6 @@ void AP_MotorsHeli::output_armed()
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
if(_rc_throttle->control_in > 0) {
// we have pushed up the throttle
// remove safety
_auto_armed = true;
}
// for helis - armed or disarmed we allow servos to move
output_armed();
}

6
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -272,12 +272,6 @@ void AP_MotorsMatrix::output_armed()
// output_disarmed - sends commands to the motors
void AP_MotorsMatrix::output_disarmed()
{
if(_rc_throttle->control_in > 0) {
// we have pushed up the throttle
// remove safety for auto pilot
_auto_armed = true;
}
// Send minimum values to all motors
output_min();
}

6
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -149,12 +149,6 @@ void AP_MotorsTri::output_armed()
// output_disarmed - sends commands to the motors
void AP_MotorsTri::output_disarmed()
{
if(_rc_throttle->control_in > 0) {
// we have pushed up the throttle
// remove safety
_auto_armed = true;
}
// fill the motor_out[] array for HIL use
for (unsigned char i = AP_MOTORS_MOT_1; i < AP_MOTORS_MOT_4; i++) {
motor_out[i] = _rc_throttle->radio_min;

1
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -48,7 +48,6 @@ AP_Motors::AP_Motors( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_
_rc_yaw(rc_yaw),
_speed_hz(speed_hz),
_armed(false),
_auto_armed(false),
_frame_orientation(0),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)

12
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -97,15 +97,6 @@ public:
_armed = arm;
};
// check or set status of auto_armed - controls whether autopilot can take control of throttle
// Note: this should probably be moved out of this class as it has little to do with the motors
virtual bool auto_armed() {
return _auto_armed;
};
virtual void auto_armed(bool arm) {
_auto_armed = arm;
};
// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
virtual void set_min_throttle(uint16_t min_throttle) {
_min_throttle = min_throttle;
@ -116,7 +107,7 @@ public:
// output - sends commands to the motors
virtual void output() {
if( _armed && _auto_armed ) { output_armed(); }else{ output_disarmed(); }
if( _armed ) { output_armed(); }else{ output_disarmed(); }
};
// output_min - sends minimum values out to the motors
@ -168,7 +159,6 @@ protected:
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
bool _armed; // true if motors are armed
bool _auto_armed; // true is throttle is above zero, allows auto pilot to take control of throttle
uint8_t _frame_orientation; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2
int16_t _min_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
int16_t _max_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)