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AP_MotorsHeli: run RSC Control function in Output Min function

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Move Output_Min() function into Heli_Single class as it will eventually be overloaded by other helicopter class types.
This commit is contained in:
Robert Lefebvre 2015-08-11 15:12:16 -04:00 committed by Randy Mackay
parent 6cfdce1280
commit b1c7ec9aac
4 changed files with 20 additions and 14 deletions
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13
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -178,19 +178,6 @@ void AP_MotorsHeli::output()
}
};
// output_min - sets servos to neutral point
void AP_MotorsHeli::output_min()
{
// move swash to mid
move_swash(0,0,500,0);
// override limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = false;
}
// parameter_check - check if helicopter specific parameters are sensible
bool AP_MotorsHeli::parameter_check() const
{

2
libraries/AP_Motors/AP_MotorsHeli.h
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@ -88,7 +88,7 @@ public:
virtual void enable() = 0;
// output_min - sets servos to neutral point
void output_min();
virtual void output_min() = 0;
// output_test - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame

16
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -250,6 +250,22 @@ uint16_t AP_MotorsHeli_Single::get_motor_mask()
return (1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_AUX | 1U << AP_MOTORS_HELI_SINGLE_RSC);
}
// output_min - sets servos to neutral point
void AP_MotorsHeli_Single::output_min()
{
// move swash to mid
move_swash(0,0,500,0);
_main_rotor.output(ROTOR_CONTROL_STOP);
_tail_rotor.output(ROTOR_CONTROL_STOP);
// override limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = false;
}
// sends commands to the motors
void AP_MotorsHeli_Single::output_armed_stabilizing()
{

3
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -81,6 +81,9 @@ public:
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void output_test(uint8_t motor_seq, int16_t pwm);
// output_min - sets servos to neutral point
void output_min();
// allow_arming - returns true if main rotor is spinning and it is ok to arm
bool allow_arming() const;