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ACMotors: make test_order uint_8

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

28
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -279,17 +279,17 @@ void AP_MotorsMatrix::output_disarmed()
// output_disarmed - sends commands to the motors // output_disarmed - sends commands to the motors
void AP_MotorsMatrix::output_test() void AP_MotorsMatrix::output_test()
{ {
int8_t min_order, max_order; uint8_t min_order, max_order;
int8_t i,j; uint8_t i,j;
// find min and max orders // find min and max orders
min_order = test_order[0]; min_order = _test_order[0];
max_order = test_order[0]; max_order = _test_order[0];
for(i=1; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for(i=1; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( test_order[i] < min_order ) if( _test_order[i] < min_order )
min_order = test_order[i]; min_order = _test_order[i];
if( test_order[i] > max_order ) if( _test_order[i] > max_order )
max_order = test_order[i]; max_order = _test_order[i];
} }
// shut down all motors // 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 // loop through all the possible orders spinning any motors that match that description
for( i=min_order; i<=max_order; i++ ) { for( i=min_order; i<=max_order; i++ ) {
for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) { 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 // 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.rcout->write(_motor_to_channel_map[j], _rc_throttle->radio_min + 100);
hal.scheduler->delay(300); hal.scheduler->delay(300);
@ -316,7 +316,7 @@ void AP_MotorsMatrix::output_test()
} }
// add_motor // 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 // ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) { 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; _yaw_factor[motor_num] = yaw_fac;
// set order that motor appears in test // set order that motor appears in test
if( testing_order == AP_MOTORS_MATRIX_ORDER_UNDEFINED ) { _test_order[motor_num] = testing_order;
test_order[motor_num] = motor_num;
}else{
test_order[motor_num] = testing_order;
}
} }
} }
// add_motor using just position and prop direction // 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 // call raw motor set-up method
add_motor_raw( add_motor_raw(

11
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -11,9 +11,6 @@
#include <RC_Channel.h> // RC Channel Library #include <RC_Channel.h> // RC Channel Library
#include "AP_Motors_Class.h" #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_CW -1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1 #define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
@ -49,7 +46,7 @@ public:
virtual void output_min(); virtual void output_min();
// add_motor using just position and yaw_factor (or prop direction) // 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 // remove_motor
void remove_motor(int8_t motor_num); void remove_motor(int8_t motor_num);
@ -62,21 +59,19 @@ public:
remove_all_motors(); remove_all_motors();
}; };
// matrix
AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
protected: protected:
// output - sends commands to the motors // output - sends commands to the motors
virtual void output_armed(); virtual void output_armed();
virtual void output_disarmed(); virtual void output_disarmed();
// add_motor using raw roll, pitch, throttle and yaw factors // 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 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 _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 _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) 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 #endif // AP_MOTORSMATRIX