Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 05:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

ACMotors: make a few more functions non-virtual

Browse Source 
Saves at least 22 bytes of RAM
This commit is contained in:
Randy Mackay 2013-05-14 18:23:36 +09:00
parent ad00e0ee1e
commit cd5795a4ac
1 changed files with 11 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -62,7 +62,7 @@ public:
virtual void Init(); virtual void Init();
// set mapping from motor number to RC channel // set mapping from motor number to RC channel
virtual void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) { void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
_motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1; _motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
_motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2; _motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
_motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3; _motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
@ -74,37 +74,24 @@ public:
} }
// set update rate to motors - a value in hertz // set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) { virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
_speed_hz = speed_hz;
};
// set frame orientation (normally + or X) // set frame orientation (normally + or X)
virtual void set_frame_orientation( uint8_t new_orientation ) { virtual void set_frame_orientation( uint8_t new_orientation ) { _frame_orientation = new_orientation; };
_frame_orientation = new_orientation;
};
// enable - starts allowing signals to be sent to motors // enable - starts allowing signals to be sent to motors
virtual void enable() { virtual void enable() {};
};
// arm, disarm or check status status of motors // arm, disarm or check status status of motors
virtual bool armed() { bool armed() { return _armed; };
return _armed; void armed(bool arm) { _armed = arm; };
};
virtual void armed(bool arm) {
_armed = arm;
};
// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle) // set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
virtual void set_min_throttle(uint16_t min_throttle) { void set_min_throttle(uint16_t min_throttle) { _min_throttle = min_throttle; };
_min_throttle = min_throttle; void set_max_throttle(uint16_t max_throttle) { _max_throttle = max_throttle; };
};
virtual void set_max_throttle(uint16_t max_throttle) {
_max_throttle = max_throttle;
};
// output - sends commands to the motors // output - sends commands to the motors
virtual void output() { void output() {
if( _armed ) { output_armed(); }else{ output_disarmed(); } if( _armed ) { output_armed(); }else{ output_disarmed(); }
}; };
@ -113,7 +100,7 @@ public:
}; };
// reached_limits - return whether we hit the limits of the motors // reached_limits - return whether we hit the limits of the motors
virtual uint8_t reached_limit( uint8_t which_limit = AP_MOTOR_ANY_LIMIT ) { uint8_t reached_limit( uint8_t which_limit = AP_MOTOR_ANY_LIMIT ) {
return _reached_limit & which_limit; return _reached_limit & which_limit;
} }
@ -126,7 +113,7 @@ public:
// setup_throttle_curve - used to linearlise thrust output by motors // setup_throttle_curve - used to linearlise thrust output by motors
// returns true if curve is created successfully // returns true if curve is created successfully
virtual bool setup_throttle_curve(); bool setup_throttle_curve();
// 1 if motor is enabled, 0 otherwise // 1 if motor is enabled, 0 otherwise
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];