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AP_MotorsSingle: use calc_pwm_output_1to1 instead of local calc_pivot_radio_output

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This commit is contained in:
Randy Mackay 2016-02-11 14:59:47 +09:00
parent ef5dbae707
commit af9b18329c
2 changed files with 12 additions and 33 deletions
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42
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -135,10 +135,10 @@ void AP_MotorsSingle::output_to_motors()
case SHUT_DOWN: case SHUT_DOWN:
// sends minimum values out to the motors // sends minimum values out to the motors
hal.rcout->cork(); hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pivot_radio_output(constrain_float(_roll_radio_passthrough+_yaw_radio_passthrough, -1.0f, 1.0f), _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough+_yaw_radio_passthrough, _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pivot_radio_output(constrain_float(_pitch_radio_passthrough+_yaw_radio_passthrough, -1.0f, 1.0f), _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough+_yaw_radio_passthrough, _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pivot_radio_output(constrain_float(-_roll_radio_passthrough+_yaw_radio_passthrough, -1.0f, 1.0f), _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough+_yaw_radio_passthrough, _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pivot_radio_output(constrain_float(-_pitch_radio_passthrough+_yaw_radio_passthrough, -1.0f, 1.0f), _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough+_yaw_radio_passthrough, _servo4));
rc_write(AP_MOTORS_MOT_5, _throttle_radio_min); rc_write(AP_MOTORS_MOT_5, _throttle_radio_min);
rc_write(AP_MOTORS_MOT_6, _throttle_radio_min); rc_write(AP_MOTORS_MOT_6, _throttle_radio_min);
hal.rcout->push(); hal.rcout->push();
@ -146,10 +146,10 @@ void AP_MotorsSingle::output_to_motors()
case SPIN_WHEN_ARMED: case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying // sends output to motors when armed but not flying
hal.rcout->cork(); hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[0], _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[1], _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[2], _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pivot_radio_output(_throttle_low_end_pct * _actuator_out[3], _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle)); rc_write(AP_MOTORS_MOT_5, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle));
rc_write(AP_MOTORS_MOT_6, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle)); rc_write(AP_MOTORS_MOT_6, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle));
hal.rcout->push(); hal.rcout->push();
@ -159,10 +159,10 @@ void AP_MotorsSingle::output_to_motors()
case SPOOL_DOWN: case SPOOL_DOWN:
// set motor output based on thrust requests // set motor output based on thrust requests
hal.rcout->cork(); hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pivot_radio_output(_actuator_out[0], _servo1)); rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pivot_radio_output(_actuator_out[1], _servo2)); rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pivot_radio_output(_actuator_out[2], _servo3)); rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pivot_radio_output(_actuator_out[3], _servo4)); rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out)); rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out)); rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out));
hal.rcout->push(); hal.rcout->push();
@ -347,21 +347,3 @@ void AP_MotorsSingle::output_test(uint8_t motor_seq, int16_t pwm)
break; break;
} }
} }
// calc_yaw_radio_output - calculate final radio output for yaw channel
int16_t AP_MotorsSingle::calc_pivot_radio_output(float yaw_input, const RC_Channel& servo)
{
int16_t ret;
if (servo.get_reverse()) {
yaw_input = -yaw_input;
}
if (yaw_input >= 0.0f){
ret = ((yaw_input * (servo.radio_max - servo.radio_trim)) + servo.radio_trim);
} else {
ret = ((yaw_input * (servo.radio_trim - servo.radio_min)) + servo.radio_trim);
}
return ret;
}

3
libraries/AP_Motors/AP_MotorsSingle.h
View File

@ -63,9 +63,6 @@ protected:
// output - sends commands to the motors // output - sends commands to the motors
void output_armed_stabilizing(); void output_armed_stabilizing();
// calc_yaw_radio_output - calculate final pwm output for yaw channel
int16_t calc_pivot_radio_output(float yaw_input, const RC_Channel& servo);
// servo speed // servo speed
AP_Int16 _servo_speed; AP_Int16 _servo_speed;