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Plane: split out flap output functions

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This commit is contained in:
Andrew Tridgell 2016-10-09 19:21:12 +11:00
parent a2cdd75870
commit eb67c97bb2
2 changed files with 66 additions and 54 deletions
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1
ArduPlane/Plane.h
View File

@ -1042,6 +1042,7 @@ private:
void set_servos_manual_passthrough(void);
void set_servos_controlled(void);
void set_servos_old_elevons(void);
void set_servos_flaps(void);
void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
bool allow_reverse_thrust(void);
void update_aux();

119
ArduPlane/servos.cpp
View File

@ -526,58 +526,11 @@ void Plane::set_servos_controlled(void)
}
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
void Plane::set_servos(void)
/*
setup flap outputs
*/
void Plane::set_servos_flaps(void)
{
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules
if (afs.should_crash_vehicle()) {
afs.terminate_vehicle();
return;
}
int16_t last_throttle = channel_throttle->get_radio_out();
// do any transition updates for quadplane
quadplane.update();
if (control_mode == AUTO && auto_state.idle_mode) {
// special handling for balloon launch
set_servos_idle();
return;
}
/*
see if we are doing ground steering.
*/
if (!steering_control.ground_steering) {
// we are not at an altitude for ground steering. Set the nose
// wheel to the rudder just in case the barometer has drifted
// a lot
steering_control.steering = steering_control.rudder;
} else if (!RC_Channel_aux::function_assigned(RC_Channel_aux::k_steering)) {
// we are within the ground steering altitude but don't have a
// dedicated steering channel. Set the rudder to the ground
// steering output
steering_control.rudder = steering_control.steering;
}
channel_rudder->set_servo_out(steering_control.rudder);
// clear ground_steering to ensure manual control if the yaw stabilizer doesn't run
steering_control.ground_steering = false;
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_rudder, steering_control.rudder);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_steering, steering_control.steering);
if (control_mode == MANUAL) {
set_servos_manual_passthrough();
} else {
set_servos_controlled();
}
// Auto flap deployment
int8_t auto_flap_percent = 0;
int8_t manual_flap_percent = 0;
@ -647,6 +600,67 @@ void Plane::set_servos(void)
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap_auto, auto_flap_percent);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_flap, manual_flap_percent);
if (g.flaperon_output != MIXING_DISABLED && g.elevon_output == MIXING_DISABLED && g.mix_mode == 0) {
flaperon_update(auto_flap_percent);
}
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
void Plane::set_servos(void)
{
// this is to allow the failsafe module to deliberately crash
// the plane. Only used in extreme circumstances to meet the
// OBC rules
if (afs.should_crash_vehicle()) {
afs.terminate_vehicle();
return;
}
int16_t last_throttle = channel_throttle->get_radio_out();
// do any transition updates for quadplane
quadplane.update();
if (control_mode == AUTO && auto_state.idle_mode) {
// special handling for balloon launch
set_servos_idle();
return;
}
/*
see if we are doing ground steering.
*/
if (!steering_control.ground_steering) {
// we are not at an altitude for ground steering. Set the nose
// wheel to the rudder just in case the barometer has drifted
// a lot
steering_control.steering = steering_control.rudder;
} else if (!RC_Channel_aux::function_assigned(RC_Channel_aux::k_steering)) {
// we are within the ground steering altitude but don't have a
// dedicated steering channel. Set the rudder to the ground
// steering output
steering_control.rudder = steering_control.steering;
}
channel_rudder->set_servo_out(steering_control.rudder);
// clear ground_steering to ensure manual control if the yaw stabilizer doesn't run
steering_control.ground_steering = false;
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_rudder, steering_control.rudder);
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_steering, steering_control.steering);
if (control_mode == MANUAL) {
set_servos_manual_passthrough();
} else {
set_servos_controlled();
}
// setup flap outputs
set_servos_flaps();
if (control_mode >= FLY_BY_WIRE_B ||
quadplane.in_assisted_flight() ||
quadplane.in_vtol_mode()) {
@ -660,9 +674,6 @@ void Plane::set_servos(void)
channel_rudder->set_radio_out(channel_rudder->get_radio_in());
}
if (g.flaperon_output != MIXING_DISABLED && g.elevon_output == MIXING_DISABLED && g.mix_mode == 0) {
flaperon_update(auto_flap_percent);
}
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, channel_pitch, channel_rudder);
} else if (g.elevon_output != MIXING_DISABLED) {