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Copter: RCMAP Fix, remove RC_Channel references

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from AP_Motors objects.  And a few function renaming to follow changes in AP_Motors.  Also add new throttle channel setter functionality.
Remove RC7 object from Tricopter.  Add special Tricopter param handling.
This commit is contained in:
Robert Lefebvre 2015-05-14 21:04:41 -04:00 committed by Randy Mackay
parent 554de1f2d7
commit acdf4a226f
5 changed files with 19 additions and 11 deletions
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13
ArduCopter/ArduCopter.pde
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@ -428,15 +428,15 @@ static struct {
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, 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);
static MOTOR_CLASS 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);
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, g.rc_7, MAIN_LOOP_RATE);
static MOTOR_CLASS motors(MAIN_LOOP_RATE);
#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps
static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4, MAIN_LOOP_RATE);
static MOTOR_CLASS 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
static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, g.single_servo_1, g.single_servo_2, MAIN_LOOP_RATE);
static MOTOR_CLASS motors(g.single_servo_1, g.single_servo_2, MAIN_LOOP_RATE);
#else
static MOTOR_CLASS motors(*channel_roll, *channel_pitch, *channel_throttle, *channel_yaw, MAIN_LOOP_RATE);
static MOTOR_CLASS motors(MAIN_LOOP_RATE);
#endif
////////////////////////////////////////////////////////////////////////////////
@ -1065,6 +1065,9 @@ static void one_hz_loop()
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
// set all throttle channel settings
motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
}
// update assigned functions and enable auxiliar servos

8
ArduCopter/Log.pde
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@ -411,16 +411,16 @@ static void Log_Write_Rate()
time_ms : hal.scheduler->millis(),
control_roll : (float)rate_targets.x,
roll : (float)(ahrs.get_gyro().x * AC_ATTITUDE_CONTROL_DEGX100),
roll_out : (float)(motors.get_roll()),
roll_out : (motors.get_roll()),
control_pitch : (float)rate_targets.y,
pitch : (float)(ahrs.get_gyro().y * AC_ATTITUDE_CONTROL_DEGX100),
pitch_out : (float)(motors.get_pitch()),
pitch_out : (motors.get_pitch()),
control_yaw : (float)rate_targets.z,
yaw : (float)(ahrs.get_gyro().z * AC_ATTITUDE_CONTROL_DEGX100),
yaw_out : (float)(motors.get_yaw()),
yaw_out : (motors.get_yaw()),
control_accel : (float)accel_target.z,
accel : (float)(-(ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f),
accel_out : (float)(motors.get_throttle_out())
accel_out : (motors.get_throttle())
};
DataFlash.WriteBlock(&pkt_rate, sizeof(pkt_rate));
}

5
ArduCopter/Parameters.pde
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@ -976,6 +976,11 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/AP_Motors/AP_MotorsCoax.cpp
GOBJECT(motors, "MOT_", AP_MotorsCoax),
#elif FRAME_CONFIG == TRI_FRAME
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_MotorsTri.cpp
GOBJECT(motors, "MOT_", AP_MotorsTri),
#else
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_Motors_Class.cpp

2
ArduCopter/land_detector.pde
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@ -46,7 +46,7 @@ static void update_land_detector()
// we've sensed movement up or down so reset land_detector
land_detector = 0;
// if throttle output is high then clear landing flag
if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
if (motors.get_throttle() > get_non_takeoff_throttle()) {
set_land_complete(false);
}
}

2
ArduCopter/radio.pde
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@ -54,7 +54,7 @@ static void init_rc_out()
motors.set_update_rate(g.rc_speed);
motors.set_frame_orientation(g.frame_orientation);
motors.Init(); // motor initialisation
motors.set_min_throttle(g.throttle_min);
motors.set_throttle_range(g.throttle_min, channel_throttle->radio_min, channel_throttle->radio_max);
for(uint8_t i = 0; i < 5; i++) {
delay(20);