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AP_Motors: tailsitter: slew outputs and output throttle directly

This commit is contained in:
Peter Hall 2021-03-15 18:41:10 +00:00 committed by Andrew Tridgell
parent b6fde7ed5a
commit ed7db5b2b6
1 changed files with 14 additions and 7 deletions
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21
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -86,23 +86,30 @@ void AP_MotorsTailsitter::output_to_motors()
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, get_pwm_output_min());
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, get_pwm_output_min());
_actuator[0] = 0.0f;
_actuator[1] = 0.0f;
_actuator[2] = 0.0f;
break;
case SpoolState::GROUND_IDLE:
set_actuator_with_slew(_actuator[0], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(actuator_spin_up_to_ground_idle()));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(actuator_spin_up_to_ground_idle()));
set_actuator_with_slew(_actuator[2], actuator_spin_up_to_ground_idle());
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
case SpoolState::SPOOLING_DOWN:
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(thrust_to_actuator(_thrust_left)));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(thrust_to_actuator(_thrust_right)));
set_actuator_with_slew(_actuator[0], thrust_to_actuator(_thrust_left));
set_actuator_with_slew(_actuator[1], thrust_to_actuator(_thrust_right));
set_actuator_with_slew(_actuator[2], thrust_to_actuator(_throttle));
break;
}
// Always output to tilt servos
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(_actuator[0]));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(_actuator[1]));
// use set scaled to allow a different PWM range on plane forward throttle, throttle range is 0 to 100
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _actuator[2]*100);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, _tilt_left*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, _tilt_right*SERVO_OUTPUT_RANGE);