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Plane: quad plane uses consolidated multicopter classes

This commit is contained in:
Randy Mackay 2016-12-12 22:08:16 +09:00
parent 01bcf5e528
commit c6dec5c3f6
2 changed files with 14 additions and 29 deletions
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33
ArduPlane/quadplane.cpp
View File

@ -208,14 +208,12 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Increment: 1
AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3),
#if FRAME_CONFIG == MULTICOPTER_FRAME
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Quad, 1:Hexa, 2:Octa, 3:OctaQuad, 4:Y6
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 0),
#endif
AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 1),
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X or V)
@ -380,6 +378,7 @@ bool QuadPlane::setup(void)
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor2, CH_6);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor4, CH_8);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor7, CH_11);
frame_class = AP_Motors::MOTOR_FRAME_TRI;
motors = new AP_MOTORS_CLASS(plane.scheduler.get_loop_rate_hz());
#else
/*
@ -387,26 +386,23 @@ bool QuadPlane::setup(void)
that the objects don't affect the vehicle unless enabled and
also saves memory when not in use
*/
switch ((enum frame_class)frame_class.get()) {
case FRAME_CLASS_QUAD:
switch ((enum AP_Motors::motor_frame_class)frame_class.get()) {
case AP_Motors::MOTOR_FRAME_QUAD:
setup_default_channels(4);
motors = new AP_MotorsQuad(plane.scheduler.get_loop_rate_hz());
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
break;
case FRAME_CLASS_HEXA:
case AP_Motors::MOTOR_FRAME_HEXA:
setup_default_channels(6);
motors = new AP_MotorsHexa(plane.scheduler.get_loop_rate_hz());
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
break;
case FRAME_CLASS_OCTA:
case AP_Motors::MOTOR_FRAME_OCTA:
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
setup_default_channels(8);
motors = new AP_MotorsOcta(plane.scheduler.get_loop_rate_hz());
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
break;
case FRAME_CLASS_OCTAQUAD:
setup_default_channels(8);
motors = new AP_MotorsOctaQuad(plane.scheduler.get_loop_rate_hz());
break;
case FRAME_CLASS_Y6:
case AP_Motors::MOTOR_FRAME_Y6:
setup_default_channels(7);
motors = new AP_MotorsY6(plane.scheduler.get_loop_rate_hz());
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
break;
default:
hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
@ -441,8 +437,7 @@ bool QuadPlane::setup(void)
}
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
motors->set_frame_orientation(frame_type);
motors->Init();
motors->init((AP_Motors::motor_frame_class)frame_class.get(), (AP_Motors::motor_frame_type)frame_type.get());
motors->set_throttle_range(thr_min_pwm, thr_max_pwm);
motors->set_update_rate(rc_speed);
motors->set_interlock(true);

10
ArduPlane/quadplane.h
View File

@ -121,9 +121,7 @@ private:
AC_PID pid_accel_z{0.3, 1, 0, 800, 10, 0.02};
AC_PI_2D pi_vel_xy{0.7, 0.35, 1000, 5, 0.02};
#if FRAME_CONFIG == MULTICOPTER_FRAME
AP_Int8 frame_class;
#endif
AP_Int8 frame_type;
AP_MOTORS_CLASS *motors;
@ -307,14 +305,6 @@ private:
bool slow_descent:1;
} poscontrol;
enum frame_class {
FRAME_CLASS_QUAD=0,
FRAME_CLASS_HEXA=1,
FRAME_CLASS_OCTA=2,
FRAME_CLASS_OCTAQUAD=3,
FRAME_CLASS_Y6=4,
};
struct {
bool running;
uint32_t start_ms; // system time the motor test began