Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/AP_Motors/AP_Motors.cpp

This commit is contained in:
uncrustify 2012-08-16 23:20:26 -07:00 committed by Pat Hickey
parent cc0c424eed
commit b982cca74e
1 changed files with 39 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

78
libraries/AP_Motors/AP_Motors.cpp
View File

@ -1,57 +1,57 @@
/*
AP_Motors.cpp - ArduCopter motors library
Code by RandyMackay. DIYDrones.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
* AP_Motors.cpp - ArduCopter motors library
* Code by RandyMackay. DIYDrones.com
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*/
#include "AP_Motors.h"
// parameters for the motor class
const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio, AP_MOTORS_TOP_BOTTOM_RATIO), // not used
AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio, AP_MOTORS_TOP_BOTTOM_RATIO), // not used
AP_GROUPEND
};
// Constructor
// Constructor
AP_Motors::AP_Motors( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz ) :
_rc(rc_out),
_rc_roll(rc_roll),
_rc_pitch(rc_pitch),
_rc_throttle(rc_throttle),
_rc_yaw(rc_yaw),
_speed_hz(speed_hz),
_armed(false),
_auto_armed(false),
_frame_orientation(0),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)
_rc(rc_out),
_rc_roll(rc_roll),
_rc_pitch(rc_pitch),
_rc_throttle(rc_throttle),
_rc_yaw(rc_yaw),
_speed_hz(speed_hz),
_armed(false),
_auto_armed(false),
_frame_orientation(0),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)
{
uint8_t i;
uint8_t i;
top_bottom_ratio = AP_MOTORS_TOP_BOTTOM_RATIO;
// initialise motor map
if( APM_version == AP_MOTORS_APM1 ) {
set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
} else {
set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
}
top_bottom_ratio = AP_MOTORS_TOP_BOTTOM_RATIO;
// clear output arrays
for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
motor_out[i] = 0;
}
// initialise motor map
if( APM_version == AP_MOTORS_APM1 ) {
set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
} else {
set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
}
// clear output arrays
for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
motor_out[i] = 0;
}
};
// throttle_pass_through - passes throttle through to motors - dangerous but used for initialising ESCs
void AP_Motors::throttle_pass_through() {
if( armed() ) {
for( int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
_rc->OutputCh(_motor_to_channel_map[i], _rc_throttle->radio_in);
}
}
if( armed() ) {
for( int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
_rc->OutputCh(_motor_to_channel_map[i], _rc_throttle->radio_in);
}
}
}