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ACMotors: make test_order uint_8

This commit is contained in:
Randy Mackay 2013-05-14 18:03:34 +09:00
parent 88893f4209
commit ad00e0ee1e
3 changed files with 19 additions and 28 deletions
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8
libraries/AP_HAL_AVR/AnalogIn_ADC.cpp
View File

@ -12,12 +12,12 @@ using namespace AP_HAL_AVR;
extern const AP_HAL::HAL& hal;
ADCSource::ADCSource(uint8_t pin) :
_pin(pin),
_stop_pin(ANALOG_INPUT_NONE),
_sum_count(0),
_sum(0),
_settle_time_ms(0),
_last_average(0)
_last_average(0),
_pin(pin),
_stop_pin(ANALOG_INPUT_NONE),
_settle_time_ms(0)
{}
float ADCSource::read_average() {

28
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -279,17 +279,17 @@ void AP_MotorsMatrix::output_disarmed()
// output_disarmed - sends commands to the motors
void AP_MotorsMatrix::output_test()
{
int8_t min_order, max_order;
int8_t i,j;
uint8_t min_order, max_order;
uint8_t i,j;
// find min and max orders
min_order = test_order[0];
max_order = test_order[0];
min_order = _test_order[0];
max_order = _test_order[0];
for(i=1; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( test_order[i] < min_order )
min_order = test_order[i];
if( test_order[i] > max_order )
max_order = test_order[i];
if( _test_order[i] < min_order )
min_order = _test_order[i];
if( _test_order[i] > max_order )
max_order = _test_order[i];
}
// shut down all motors
@ -301,7 +301,7 @@ void AP_MotorsMatrix::output_test()
// loop through all the possible orders spinning any motors that match that description
for( i=min_order; i<=max_order; i++ ) {
for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) {
if( motor_enabled[j] && test_order[j] == i ) {
if( motor_enabled[j] && _test_order[j] == i ) {
// turn on this motor and wait 1/3rd of a second
hal.rcout->write(_motor_to_channel_map[j], _rc_throttle->radio_min + 100);
hal.scheduler->delay(300);
@ -316,7 +316,7 @@ void AP_MotorsMatrix::output_test()
}
// add_motor
void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t testing_order)
void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order)
{
// ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
@ -333,16 +333,12 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
_yaw_factor[motor_num] = yaw_fac;
// set order that motor appears in test
if( testing_order == AP_MOTORS_MATRIX_ORDER_UNDEFINED ) {
test_order[motor_num] = motor_num;
}else{
test_order[motor_num] = testing_order;
}
_test_order[motor_num] = testing_order;
}
}
// add_motor using just position and prop direction
void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, int8_t testing_order)
void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order)
{
// call raw motor set-up method
add_motor_raw(

11
libraries/AP_Motors/AP_MotorsMatrix.h
View File

@ -11,9 +11,6 @@
#include <RC_Channel.h> // RC Channel Library
#include "AP_Motors_Class.h"
#define AP_MOTORS_MATRIX_MOTOR_UNDEFINED -1
#define AP_MOTORS_MATRIX_ORDER_UNDEFINED -1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
@ -49,7 +46,7 @@ public:
virtual void output_min();
// add_motor using just position and yaw_factor (or prop direction)
void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
// remove_motor
void remove_motor(int8_t motor_num);
@ -62,21 +59,19 @@ public:
remove_all_motors();
};
// matrix
AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
protected:
// output - sends commands to the motors
virtual void output_armed();
virtual void output_disarmed();
// add_motor using raw roll, pitch, throttle and yaw factors
void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
uint8_t _test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
};
#endif // AP_MOTORSMATRIX