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Tracker: add disarmed pwm param

This commit is contained in:
Peter Hall 2019-06-13 18:16:29 +01:00 committed by Randy Mackay
parent 7b31ae10c0
commit c128c80d56
6 changed files with 51 additions and 34 deletions
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6
AntennaTracker/Parameters.cpp
View File

@ -403,6 +403,12 @@ const AP_Param::Info Tracker::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(initial_mode, "INITIAL_MODE", 10), GSCALAR(initial_mode, "INITIAL_MODE", 10),
// @Param: SAFE_DISARM_PWM
// @DisplayName: PWM that will be output when disarmed or in stop mode
// @Description: 0:zero pwm, 1:trim pwm
// @User: Standard
GSCALAR(disarm_pwm, "SAFE_DISARM_PWM", 0),
AP_VAREND AP_VAREND
}; };

4
AntennaTracker/Parameters.h
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@ -119,7 +119,8 @@ public:
k_param_gcs_pid_mask = 225, k_param_gcs_pid_mask = 225,
k_param_scan_speed_yaw, k_param_scan_speed_yaw,
k_param_scan_speed_pitch, k_param_scan_speed_pitch,
k_param_initial_mode k_param_initial_mode,
k_param_disarm_pwm
}; };
AP_Int16 format_version; AP_Int16 format_version;
@ -156,6 +157,7 @@ public:
AP_Int16 pitch_max; AP_Int16 pitch_max;
AP_Int16 gcs_pid_mask; AP_Int16 gcs_pid_mask;
AP_Int8 initial_mode; AP_Int8 initial_mode;
AP_Int8 disarm_pwm;
// Waypoints // Waypoints
// //

3
AntennaTracker/control_manual.cpp
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@ -16,7 +16,4 @@ void Tracker::update_manual(void)
SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, RC_Channels::rc_channel(CH_PITCH)->get_radio_in()); SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, RC_Channels::rc_channel(CH_PITCH)->get_radio_in());
SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_pitch); SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_pitch);
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();
} }

5
AntennaTracker/defines.h
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@ -31,6 +31,11 @@ enum mode_reason_t {
MODE_REASON_GCS_COMMAND, MODE_REASON_GCS_COMMAND,
}; };
enum class PWMDisarmed {
ZERO = 0,
TRIM,
};
// Filter // Filter
#define SERVO_OUT_FILT_HZ 0.1f #define SERVO_OUT_FILT_HZ 0.1f
#define G_Dt 0.02f #define G_Dt 0.02f

8
AntennaTracker/servos.cpp
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@ -46,10 +46,6 @@ void Tracker::update_pitch_servo(float pitch)
update_pitch_position_servo(); update_pitch_position_servo();
break; break;
} }
// convert servo_out to radio_out and send to servo
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();
} }
/** /**
@ -154,10 +150,6 @@ void Tracker::update_yaw_servo(float yaw)
update_yaw_position_servo(); update_yaw_position_servo();
break; break;
} }
// convert servo_out to radio_out and send to servo
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();
} }
/** /**

19
AntennaTracker/tracking.cpp
View File

@ -105,9 +105,18 @@ void Tracker::update_tracking(void)
} }
// do not move if we are not armed: // do not move if we are not armed:
if (!hal.util->get_soft_armed()) { if (!hal.util->get_soft_armed()) {
return; switch ((PWMDisarmed)g.disarm_pwm.get()) {
case PWMDisarmed::TRIM:
SRV_Channels::set_output_scaled(SRV_Channel::k_tracker_yaw, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_tracker_pitch, 0);
break;
default:
case PWMDisarmed::ZERO:
SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_yaw, 0);
SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, 0);
break;
} }
} else {
switch (control_mode) { switch (control_mode) {
case AUTO: case AUTO:
if (vehicle.location_valid) { if (vehicle.location_valid) {
@ -130,6 +139,12 @@ void Tracker::update_tracking(void)
case INITIALISING: case INITIALISING:
break; break;
} }
}
// convert servo_out to radio_out and send to servo
SRV_Channels::calc_pwm();
SRV_Channels::output_ch_all();
return;
} }
/** /**