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MotorsHeli: replace throttle_control_input with throttle_in

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throttle_control_input was 0 to 1000 range, throttle_in is 0 to 1
This commit is contained in:
Leonard Hall 2016-01-06 18:06:15 +09:00 committed by Randy Mackay
parent f02e8f8e01
commit d2a1cdf906
2 changed files with 8 additions and 11 deletions
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17
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -223,7 +223,7 @@ void AP_MotorsHeli::output_armed_stabilizing()
reset_flight_controls(); reset_flight_controls();
} }
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input); move_actuators(_roll_control_input, _pitch_control_input, get_throttle(), _yaw_control_input);
update_motor_control(ROTOR_CONTROL_ACTIVE); update_motor_control(ROTOR_CONTROL_ACTIVE);
} }
@ -236,7 +236,7 @@ void AP_MotorsHeli::output_armed_zero_throttle()
reset_flight_controls(); reset_flight_controls();
} }
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input); move_actuators(_roll_control_input, _pitch_control_input, get_throttle(), _yaw_control_input);
update_motor_control(ROTOR_CONTROL_IDLE); update_motor_control(ROTOR_CONTROL_IDLE);
} }
@ -254,28 +254,28 @@ void AP_MotorsHeli::output_disarmed()
// pass pilot commands straight through to swash // pass pilot commands straight through to swash
_roll_control_input = _roll_radio_passthrough; _roll_control_input = _roll_radio_passthrough;
_pitch_control_input = _pitch_radio_passthrough; _pitch_control_input = _pitch_radio_passthrough;
_throttle_control_input = _throttle_radio_passthrough; _throttle_filter.reset(_throttle_radio_passthrough / 1000.0f);
_yaw_control_input = _yaw_radio_passthrough; _yaw_control_input = _yaw_radio_passthrough;
break; break;
case SERVO_CONTROL_MODE_MANUAL_CENTER: case SERVO_CONTROL_MODE_MANUAL_CENTER:
// fixate mid collective // fixate mid collective
_roll_control_input = 0; _roll_control_input = 0;
_pitch_control_input = 0; _pitch_control_input = 0;
_throttle_control_input = _collective_mid_pwm; _throttle_filter.reset(_collective_mid_pwm / 1000.0f);
_yaw_control_input = 0; _yaw_control_input = 0;
break; break;
case SERVO_CONTROL_MODE_MANUAL_MAX: case SERVO_CONTROL_MODE_MANUAL_MAX:
// fixate max collective // fixate max collective
_roll_control_input = 0; _roll_control_input = 0;
_pitch_control_input = 0; _pitch_control_input = 0;
_throttle_control_input = 1000; _throttle_filter.reset(1.0f);
_yaw_control_input = 4500; _yaw_control_input = 4500;
break; break;
case SERVO_CONTROL_MODE_MANUAL_MIN: case SERVO_CONTROL_MODE_MANUAL_MIN:
// fixate min collective // fixate min collective
_roll_control_input = 0; _roll_control_input = 0;
_pitch_control_input = 0; _pitch_control_input = 0;
_throttle_control_input = 0; _throttle_filter.reset(0.0f);
_yaw_control_input = -4500; _yaw_control_input = -4500;
break; break;
case SERVO_CONTROL_MODE_MANUAL_OSCILLATE: case SERVO_CONTROL_MODE_MANUAL_OSCILLATE:
@ -295,7 +295,7 @@ void AP_MotorsHeli::output_disarmed()
calculate_scalars(); calculate_scalars();
// helicopters always run stabilizing flight controls // helicopters always run stabilizing flight controls
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input); move_actuators(_roll_control_input, _pitch_control_input, get_throttle(), _yaw_control_input);
update_motor_control(ROTOR_CONTROL_STOP); update_motor_control(ROTOR_CONTROL_STOP);
} }
@ -353,9 +353,6 @@ void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo)
void AP_MotorsHeli::update_throttle_filter() void AP_MotorsHeli::update_throttle_filter()
{ {
_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate); _throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
// constrain throttle signal to 0-1000
_throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
} }
// set_radio_passthrough used to pass radio inputs directly to outputs // set_radio_passthrough used to pass radio inputs directly to outputs

2
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -526,7 +526,7 @@ void AP_MotorsHeli_Single::servo_test()
} }
// over-ride servo commands to move servos through defined ranges // over-ride servo commands to move servos through defined ranges
_throttle_control_input = _collective_test; _throttle_in = _collective_test;
_roll_control_input = _roll_test; _roll_control_input = _roll_test;
_pitch_control_input = _pitch_test; _pitch_control_input = _pitch_test;
_yaw_control_input = _yaw_test; _yaw_control_input = _yaw_test;