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AP_MotorsHeli: Simplify servo init/reset

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This commit is contained in:
Robert Lefebvre 2015-08-11 20:46:20 -04:00 committed by Randy Mackay
parent c00fd86b45
commit bac559d5af
3 changed files with 3 additions and 15 deletions
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10
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -243,6 +243,7 @@ void AP_MotorsHeli::reset_swash()
// reset_swash_servo // reset_swash_servo
void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo) void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo)
{ {
servo.set_range(0, 1000);
servo.radio_min = 1000; servo.radio_min = 1000;
servo.radio_max = 2000; servo.radio_max = 2000;
} }
@ -279,15 +280,6 @@ void AP_MotorsHeli::init_swash()
_heliflags.swash_initialised = true; _heliflags.swash_initialised = true;
} }
// init_swash_servo
void AP_MotorsHeli::init_swash_servo(RC_Channel& servo)
{
servo.set_range(0, 1000);
servo.radio_min = 1000;
servo.radio_max = 2000;
}
// update the throttle input filter // update the throttle input filter
void AP_MotorsHeli::update_throttle_filter() void AP_MotorsHeli::update_throttle_filter()
{ {

3
libraries/AP_Motors/AP_MotorsHeli.h
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@ -199,9 +199,6 @@ protected:
// init_servos - initialize the servos // init_servos - initialize the servos
virtual void init_servos() = 0; virtual void init_servos() = 0;
// init_swash_servo - initialize a swash servo
static void init_swash_servo(RC_Channel& servo);
// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
virtual void calculate_roll_pitch_collective_factors() = 0; virtual void calculate_roll_pitch_collective_factors() = 0;

5
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -378,9 +378,8 @@ void AP_MotorsHeli_Single::reset_servos()
// init_servos // init_servos
void AP_MotorsHeli_Single::init_servos() void AP_MotorsHeli_Single::init_servos()
{ {
init_swash_servo (_swash_servo_1); // reset swash servo range and endpoints
init_swash_servo (_swash_servo_2); reset_servos();
init_swash_servo (_swash_servo_3);
_yaw_servo.set_angle(4500); _yaw_servo.set_angle(4500);