Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: Quadplane: use uint16_t for output_motor_mask

Browse Source
This commit is contained in:
Iampete1 2022-11-25 18:40:50 +00:00 committed by Andrew Tridgell
parent d5082e25e8
commit d66485c60a
2 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/tailsitter.cpp
View File

@ -95,7 +95,7 @@ const AP_Param::GroupInfo Tailsitter::var_info[] = {
// @DisplayName: Tailsitter motor mask // @DisplayName: Tailsitter motor mask
// @Description: Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter. Non-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for non-Copter tailsitters. // @Description: Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter. Non-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for non-Copter tailsitters.
// @User: Standard // @User: Standard
// @Bitmask: 0:Motor 1,1:Motor 2,2:Motor 3,3:Motor 4, 4:Motor 5,5:Motor 6,6:Motor 7,7:Motor 8 // @Bitmask: 0:Motor 1, 1:Motor 2, 2:Motor 3, 3:Motor 4, 4:Motor 5, 5:Motor 6, 6:Motor 7, 7:Motor 8, 8:Motor 9, 9:Motor 10, 10:Motor 11, 11:Motor 12
AP_GROUPINFO("MOTMX", 12, Tailsitter, motor_mask, 0), AP_GROUPINFO("MOTMX", 12, Tailsitter, motor_mask, 0),
// @Param: GSCMSK // @Param: GSCMSK

5
ArduPlane/tiltrotor.cpp
View File

@ -16,6 +16,7 @@ const AP_Param::GroupInfo Tiltrotor::var_info[] = {
// @DisplayName: Tiltrotor mask // @DisplayName: Tiltrotor mask
// @Description: This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type. // @Description: This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.
// @User: Standard // @User: Standard
// @Bitmask: 0:Motor 1, 1:Motor 2, 2:Motor 3, 3:Motor 4, 4:Motor 5, 5:Motor 6, 6:Motor 7, 7:Motor 8, 8:Motor 9, 9:Motor 10, 10:Motor 11, 11:Motor 12
AP_GROUPINFO("MASK", 2, Tiltrotor, tilt_mask, 0), AP_GROUPINFO("MASK", 2, Tiltrotor, tilt_mask, 0),
// @Param: RATE_UP // @Param: RATE_UP
@ -242,7 +243,7 @@ void Tiltrotor::continuous_update(void)
} }
if (!quadplane.motor_test.running) { if (!quadplane.motor_test.running) {
// the motors are all the way forward, start using them for fwd thrust // the motors are all the way forward, start using them for fwd thrust
uint8_t mask = is_zero(current_throttle)?0:(uint8_t)tilt_mask.get(); const uint16_t mask = is_zero(current_throttle)?0U:tilt_mask.get();
motors->output_motor_mask(current_throttle, mask, plane.rudder_dt); motors->output_motor_mask(current_throttle, mask, plane.rudder_dt);
} }
return; return;
@ -346,7 +347,7 @@ void Tiltrotor::binary_update(void)
float new_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)*0.01f; float new_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)*0.01f;
if (current_tilt >= 1) { if (current_tilt >= 1) {
uint8_t mask = is_zero(new_throttle)?0:(uint8_t)tilt_mask.get(); const uint16_t mask = is_zero(new_throttle)?0U:tilt_mask.get();
// the motors are all the way forward, start using them for fwd thrust // the motors are all the way forward, start using them for fwd thrust
motors->output_motor_mask(new_throttle, mask, plane.rudder_dt); motors->output_motor_mask(new_throttle, mask, plane.rudder_dt);
} }