Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: example: allow setting shashplate type at runtime

Browse Source
This commit is contained in:
Iampete1 2023-07-14 14:31:32 +01:00 committed by Randy Mackay
parent b327f00b25
commit c5c26e89da
1 changed files with 40 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
View File

@ -85,6 +85,42 @@ void setup()
} else if (strcmp(cmd,"thrust_boost") == 0) {
thrust_boost = value > 0.0;
} else if (strcmp(cmd,"swash") == 0) {
if (frame_class == AP_Motors::MOTOR_FRAME_HELI) {
// This is a extremely complicated and unsafe way to get at the swash type parameter
// without adding helpers to both AP_MotorsHeli_Single and AP_MotorsHeli_Swash
// This works in the same way as AP_Param
char *swash = (char*)motors + AP_MotorsHeli_Single::var_info[6].offset;
AP_Int8 *swash_type = (AP_Int8*)swash + AP_MotorsHeli_Swash::var_info[0].offset;
swash_type->set(value);
} else if (frame_class == AP_Motors::MOTOR_FRAME_HELI_DUAL) {
// More param hacking, its only a example
char *swash1 = (char*)motors + AP_MotorsHeli_Dual::var_info[7].offset;
char *swash2 = (char*)motors + AP_MotorsHeli_Dual::var_info[8].offset;
AP_Int8 *swash_type1 = (AP_Int8*)swash1 + AP_MotorsHeli_Swash::var_info[0].offset;
AP_Int8 *swash_type2 = (AP_Int8*)swash2 + AP_MotorsHeli_Swash::var_info[0].offset;
swash_type1->set(value);
swash_type2->set(value);
} else {
::printf("frame_class %i does not support swash\n", frame_class);
exit(1);
}
// Re-init motors to switch to the new swash type
// Have to do this twice to make sure the swash type sticks
motors->set_initialised_ok(false);
motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);
motors->set_initialised_ok(false);
motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);
// Check that init worked
if (!motors->initialised_ok()) {
::printf("ERROR: swash=%0.0f re-initialisation failed\n", value);
exit(1);
}
} else if (strcmp(cmd,"frame_class") == 0) {
// We must have the frame_class argument 2nd as resulting class is used to determine if
// we have access to certain functions in the multicopter motors child class
@ -107,12 +143,14 @@ void setup()
case AP_Motors::MOTOR_FRAME_HELI:
motors = new AP_MotorsHeli_Single(400);
num_outputs = 4; // Currently only does default config. In future need to test all types: Mot 1-3 swashplate, mot 4 tail rotor pitch, mot 5 for 4th servo in H4-90 swash
// Mot 1-3 swashplate, mot 4 tail rotor pitch, mot 5 for 4th servo in H4-90 swash
num_outputs = 5;
break;
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
motors = new AP_MotorsHeli_Dual(400);
num_outputs = 6; // Currently only does default config. In future need to test all types: Mot 1-3 swashplate 1, mot 4-6 swashplate 2, mot 7 and 8 for 4th servos on H4-90 swash plates front and back, respectively
// Mot 1-3 swashplate 1, mot 4-6 swashplate 2, mot 7 and 8 for 4th servos on H4-90 swash plates front and back, respectively
num_outputs = 8;
break;
case AP_Motors::MOTOR_FRAME_HELI_QUAD: