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AP_Motors: added rc_write function

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this is intended to make remapping motors and rescaling output easier
This commit is contained in:
Andrew Tridgell 2016-01-04 16:56:54 +11:00
parent 79c90d37f6
commit d31ba2b380
8 changed files with 77 additions and 68 deletions
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32
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -112,10 +112,10 @@ void AP_MotorsCoax::output_min()
{ {
// send minimum value to each motor // send minimum value to each motor
hal.rcout->cork(); hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_trim); rc_write(AP_MOTORS_MOT_1, _servo1.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_trim); rc_write(AP_MOTORS_MOT_2, _servo2.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_3, _throttle_radio_min); rc_write(AP_MOTORS_MOT_3, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min); rc_write(AP_MOTORS_MOT_4, _throttle_radio_min);
hal.rcout->push(); hal.rcout->push();
} }
@ -157,10 +157,10 @@ void AP_MotorsCoax::output_armed_not_stabilizing()
} }
hal.rcout->cork(); hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out); rc_write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out); rc_write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out); rc_write(AP_MOTORS_MOT_3, motor_out);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out); rc_write(AP_MOTORS_MOT_4, motor_out);
hal.rcout->push(); hal.rcout->push();
} }
@ -217,10 +217,10 @@ void AP_MotorsCoax::output_armed_stabilizing()
// send output to each motor // send output to each motor
hal.rcout->cork(); hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out); rc_write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out); rc_write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out[AP_MOTORS_MOT_3]); rc_write(AP_MOTORS_MOT_3, motor_out[AP_MOTORS_MOT_3]);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]); rc_write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
hal.rcout->push(); hal.rcout->push();
} }
@ -245,19 +245,19 @@ void AP_MotorsCoax::output_test(uint8_t motor_seq, int16_t pwm)
switch (motor_seq) { switch (motor_seq) {
case 1: case 1:
// flap servo 1 // flap servo 1
hal.rcout->write(AP_MOTORS_MOT_1, pwm); rc_write(AP_MOTORS_MOT_1, pwm);
break; break;
case 2: case 2:
// flap servo 2 // flap servo 2
hal.rcout->write(AP_MOTORS_MOT_2, pwm); rc_write(AP_MOTORS_MOT_2, pwm);
break; break;
case 3: case 3:
// motor 1 // motor 1
hal.rcout->write(AP_MOTORS_MOT_3, pwm); rc_write(AP_MOTORS_MOT_3, pwm);
break; break;
case 4: case 4:
// motor 2 // motor 2
hal.rcout->write(AP_MOTORS_MOT_4, pwm); rc_write(AP_MOTORS_MOT_4, pwm);
break; break;
default: default:
// do nothing // do nothing

20
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -175,15 +175,15 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
switch (motor_seq) { switch (motor_seq) {
case 1: case 1:
// swash servo 1 // swash servo 1
hal.rcout->write(AP_MOTORS_MOT_1, pwm); rc_write(AP_MOTORS_MOT_1, pwm);
break; break;
case 2: case 2:
// swash servo 2 // swash servo 2
hal.rcout->write(AP_MOTORS_MOT_2, pwm); rc_write(AP_MOTORS_MOT_2, pwm);
break; break;
case 3: case 3:
// swash servo 3 // swash servo 3
hal.rcout->write(AP_MOTORS_MOT_3, pwm); rc_write(AP_MOTORS_MOT_3, pwm);
break; break;
case 4: case 4:
// external gyro & tail servo // external gyro & tail servo
@ -194,11 +194,11 @@ void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
write_aux(_ext_gyro_gain_std); write_aux(_ext_gyro_gain_std);
} }
} }
hal.rcout->write(AP_MOTORS_MOT_4, pwm); rc_write(AP_MOTORS_MOT_4, pwm);
break; break;
case 5: case 5:
// main rotor // main rotor
hal.rcout->write(AP_MOTORS_HELI_SINGLE_RSC, pwm); rc_write(AP_MOTORS_HELI_SINGLE_RSC, pwm);
break; break;
default: default:
// do nothing // do nothing
@ -438,9 +438,9 @@ void AP_MotorsHeli_Single::move_actuators(int16_t roll_out, int16_t pitch_out, i
hal.rcout->cork(); hal.rcout->cork();
// actually move the servos // actually move the servos
hal.rcout->write(AP_MOTORS_MOT_1, _swash_servo_1.radio_out); rc_write(AP_MOTORS_MOT_1, _swash_servo_1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _swash_servo_2.radio_out); rc_write(AP_MOTORS_MOT_2, _swash_servo_2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, _swash_servo_3.radio_out); rc_write(AP_MOTORS_MOT_3, _swash_servo_3.radio_out);
// update the yaw rate using the tail rotor/servo // update the yaw rate using the tail rotor/servo
move_yaw(yaw_out + yaw_offset); move_yaw(yaw_out + yaw_offset);
@ -459,7 +459,7 @@ void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
_yaw_servo.calc_pwm(); _yaw_servo.calc_pwm();
hal.rcout->write(AP_MOTORS_MOT_4, _yaw_servo.radio_out); rc_write(AP_MOTORS_MOT_4, _yaw_servo.radio_out);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) { if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro // output gain to exernal gyro
@ -480,7 +480,7 @@ void AP_MotorsHeli_Single::write_aux(int16_t servo_out)
{ {
_servo_aux.servo_out = servo_out; _servo_aux.servo_out = servo_out;
_servo_aux.calc_pwm(); _servo_aux.calc_pwm();
hal.rcout->write(AP_MOTORS_HELI_SINGLE_AUX, _servo_aux.radio_out); rc_write(AP_MOTORS_HELI_SINGLE_AUX, _servo_aux.radio_out);
} }
// servo_test - move servos through full range of movement // servo_test - move servos through full range of movement

8
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -98,7 +98,7 @@ void AP_MotorsMatrix::output_min()
hal.rcout->cork(); hal.rcout->cork();
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) { if( motor_enabled[i] ) {
hal.rcout->write(i, _throttle_radio_min); rc_write(i, _throttle_radio_min);
} }
} }
hal.rcout->push(); hal.rcout->push();
@ -164,7 +164,7 @@ void AP_MotorsMatrix::output_armed_not_stabilizing()
hal.rcout->cork(); hal.rcout->cork();
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) { if( motor_enabled[i] ) {
hal.rcout->write(i, motor_out[i]); rc_write(i, motor_out[i]);
} }
} }
hal.rcout->push(); hal.rcout->push();
@ -362,7 +362,7 @@ void AP_MotorsMatrix::output_armed_stabilizing()
hal.rcout->cork(); hal.rcout->cork();
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) { if( motor_enabled[i] ) {
hal.rcout->write(i, motor_out[i]); rc_write(i, motor_out[i]);
} }
} }
hal.rcout->push(); hal.rcout->push();
@ -390,7 +390,7 @@ void AP_MotorsMatrix::output_test(uint8_t motor_seq, int16_t pwm)
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) { for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i] && _test_order[i] == motor_seq) { if (motor_enabled[i] && _test_order[i] == motor_seq) {
// turn on this motor // turn on this motor
hal.rcout->write(i, pwm); rc_write(i, pwm);
} }
} }
hal.rcout->push(); hal.rcout->push();

2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -381,7 +381,7 @@ void AP_MotorsMulticopter::throttle_pass_through(int16_t pwm)
hal.rcout->cork(); hal.rcout->cork();
for (uint16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) { for (uint16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) { if (motor_enabled[i]) {
hal.rcout->write(i, pwm); rc_write(i, pwm);
} }
} }
hal.rcout->push(); hal.rcout->push();

40
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -117,11 +117,11 @@ void AP_MotorsSingle::output_min()
{ {
// send minimum value to each motor // send minimum value to each motor
hal.rcout->cork(); hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_trim); rc_write(AP_MOTORS_MOT_1, _servo1.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_trim); rc_write(AP_MOTORS_MOT_2, _servo2.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_3, _servo3.radio_trim); rc_write(AP_MOTORS_MOT_3, _servo3.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_4, _servo4.radio_trim); rc_write(AP_MOTORS_MOT_4, _servo4.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_7, _throttle_radio_min); rc_write(AP_MOTORS_MOT_7, _throttle_radio_min);
hal.rcout->push(); hal.rcout->push();
} }
@ -175,11 +175,11 @@ void AP_MotorsSingle::output_armed_not_stabilizing()
} }
hal.rcout->cork(); hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out); rc_write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out); rc_write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, _servo3.radio_out); rc_write(AP_MOTORS_MOT_3, _servo3.radio_out);
hal.rcout->write(AP_MOTORS_MOT_4, _servo4.radio_out); rc_write(AP_MOTORS_MOT_4, _servo4.radio_out);
hal.rcout->write(AP_MOTORS_MOT_7, throttle_radio_output); rc_write(AP_MOTORS_MOT_7, throttle_radio_output);
hal.rcout->push(); hal.rcout->push();
} }
@ -234,11 +234,11 @@ void AP_MotorsSingle::output_armed_stabilizing()
// send output to each motor // send output to each motor
hal.rcout->cork(); hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out); rc_write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out); rc_write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, _servo3.radio_out); rc_write(AP_MOTORS_MOT_3, _servo3.radio_out);
hal.rcout->write(AP_MOTORS_MOT_4, _servo4.radio_out); rc_write(AP_MOTORS_MOT_4, _servo4.radio_out);
hal.rcout->write(AP_MOTORS_MOT_7, throttle_radio_output); rc_write(AP_MOTORS_MOT_7, throttle_radio_output);
hal.rcout->push(); hal.rcout->push();
} }
@ -263,23 +263,23 @@ void AP_MotorsSingle::output_test(uint8_t motor_seq, int16_t pwm)
switch (motor_seq) { switch (motor_seq) {
case 1: case 1:
// flap servo 1 // flap servo 1
hal.rcout->write(AP_MOTORS_MOT_1, pwm); rc_write(AP_MOTORS_MOT_1, pwm);
break; break;
case 2: case 2:
// flap servo 2 // flap servo 2
hal.rcout->write(AP_MOTORS_MOT_2, pwm); rc_write(AP_MOTORS_MOT_2, pwm);
break; break;
case 3: case 3:
// flap servo 3 // flap servo 3
hal.rcout->write(AP_MOTORS_MOT_3, pwm); rc_write(AP_MOTORS_MOT_3, pwm);
break; break;
case 4: case 4:
// flap servo 4 // flap servo 4
hal.rcout->write(AP_MOTORS_MOT_4, pwm); rc_write(AP_MOTORS_MOT_4, pwm);
break; break;
case 5: case 5:
// spin main motor // spin main motor
hal.rcout->write(AP_MOTORS_MOT_7, pwm); rc_write(AP_MOTORS_MOT_7, pwm);
break; break;
default: default:
// do nothing // do nothing

32
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -118,10 +118,10 @@ void AP_MotorsTri::output_min()
// send minimum value to each motor // send minimum value to each motor
hal.rcout->cork(); hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _throttle_radio_min); rc_write(AP_MOTORS_MOT_1, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_2, _throttle_radio_min); rc_write(AP_MOTORS_MOT_2, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min); rc_write(AP_MOTORS_MOT_4, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim); rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
hal.rcout->push(); hal.rcout->push();
} }
@ -176,12 +176,12 @@ void AP_MotorsTri::output_armed_not_stabilizing()
hal.rcout->cork(); hal.rcout->cork();
// send output to each motor // send output to each motor
hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]); rc_write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]); rc_write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]); rc_write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
// send centering signal to yaw servo // send centering signal to yaw servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim); rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
hal.rcout->push(); hal.rcout->push();
} }
@ -293,12 +293,12 @@ void AP_MotorsTri::output_armed_stabilizing()
hal.rcout->cork(); hal.rcout->cork();
// send output to each motor // send output to each motor
hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]); rc_write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]); rc_write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]); rc_write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
// send out to yaw command to tail servo // send out to yaw command to tail servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, yaw_radio_output); rc_write(AP_MOTORS_CH_TRI_YAW, yaw_radio_output);
hal.rcout->push(); hal.rcout->push();
} }
@ -324,19 +324,19 @@ void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
switch (motor_seq) { switch (motor_seq) {
case 1: case 1:
// front right motor // front right motor
hal.rcout->write(AP_MOTORS_MOT_1, pwm); rc_write(AP_MOTORS_MOT_1, pwm);
break; break;
case 2: case 2:
// back motor // back motor
hal.rcout->write(AP_MOTORS_MOT_4, pwm); rc_write(AP_MOTORS_MOT_4, pwm);
break; break;
case 3: case 3:
// back servo // back servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, pwm); rc_write(AP_MOTORS_CH_TRI_YAW, pwm);
break; break;
case 4: case 4:
// front left motor // front left motor
hal.rcout->write(AP_MOTORS_MOT_2, pwm); rc_write(AP_MOTORS_MOT_2, pwm);
break; break;
default: default:
// do nothing // do nothing

8
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -64,3 +64,11 @@ void AP_Motors::armed(bool arm)
_flags.armed = arm; _flags.armed = arm;
AP_Notify::flags.armed = arm; AP_Notify::flags.armed = arm;
}; };
/*
write to an output channel
*/
void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
{
hal.rcout->write(chan, pwm);
}

3
libraries/AP_Motors/AP_Motors_Class.h
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@ -129,7 +129,8 @@ protected:
virtual void output_armed_not_stabilizing()=0; virtual void output_armed_not_stabilizing()=0;
virtual void output_armed_zero_throttle() { output_min(); } virtual void output_armed_zero_throttle() { output_min(); }
virtual void output_disarmed()=0; virtual void output_disarmed()=0;
virtual void rc_write(uint8_t chan, uint16_t pwm);
// update the throttle input filter // update the throttle input filter
virtual void update_throttle_filter() = 0; virtual void update_throttle_filter() = 0;