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AP_MotorsCoax: get rid of _motor_to_channel_map

This commit is contained in:
Lucas De Marchi 2015-09-29 12:01:40 +09:00 committed by Randy Mackay
parent ec4ebfde83
commit e938075581
1 changed files with 24 additions and 24 deletions
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48
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -86,14 +86,14 @@ void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
// set update rate for the two motors
uint32_t mask2 =
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]) ;
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 ;
hal.rcout->set_freq(mask2, _speed_hz);
// set update rate for the two servos
uint32_t mask =
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) ;
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 ;
hal.rcout->set_freq(mask, _servo_speed);
}
@ -101,20 +101,20 @@ void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
void AP_MotorsCoax::enable()
{
// enable output channels
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]));
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]));
hal.rcout->enable_ch(AP_MOTORS_MOT_1);
hal.rcout->enable_ch(AP_MOTORS_MOT_2);
hal.rcout->enable_ch(AP_MOTORS_MOT_3);
hal.rcout->enable_ch(AP_MOTORS_MOT_4);
}
// output_min - sends minimum values out to the motor and trim values to the servos
void AP_MotorsCoax::output_min()
{
// send minimum value to each motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _throttle_radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_trim);
hal.rcout->write(AP_MOTORS_MOT_3, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min);
}
void AP_MotorsCoax::output_armed_not_stabilizing()
@ -154,10 +154,10 @@ void AP_MotorsCoax::output_armed_not_stabilizing()
motor_out = apply_thrust_curve_and_volt_scaling(motor_out, out_min, _throttle_radio_max);
}
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), motor_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out);
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out);
}
// sends commands to the motors
@ -212,10 +212,10 @@ void AP_MotorsCoax::output_armed_stabilizing()
motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
// send output to each motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), motor_out[AP_MOTORS_MOT_3]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]);
hal.rcout->write(AP_MOTORS_MOT_1, _servo1.radio_out);
hal.rcout->write(AP_MOTORS_MOT_2, _servo2.radio_out);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out[AP_MOTORS_MOT_3]);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
}
// output_disarmed - sends commands to the motors
@ -239,19 +239,19 @@ void AP_MotorsCoax::output_test(uint8_t motor_seq, int16_t pwm)
switch (motor_seq) {
case 1:
// flap servo 1
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm);
hal.rcout->write(AP_MOTORS_MOT_1, pwm);
break;
case 2:
// flap servo 2
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm);
hal.rcout->write(AP_MOTORS_MOT_2, pwm);
break;
case 3:
// motor 1
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), pwm);
hal.rcout->write(AP_MOTORS_MOT_3, pwm);
break;
case 4:
// motor 2
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
hal.rcout->write(AP_MOTORS_MOT_4, pwm);
break;
default:
// do nothing