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AP_Motors: spool_mode moved out of flags struction 

No functional change
This commit is contained in:
Randy Mackay 2016-06-04 14:54:00 +09:00
parent 8fff32bde3
commit ef106e4b0f
6 changed files with 17 additions and 21 deletions
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2
libraries/AP_Motors/AP_MotorsCoax.cpp
View File

@ -114,7 +114,7 @@ void AP_MotorsCoax::enable()
void AP_MotorsCoax::output_to_motors()
{
switch (_multicopter_flags.spool_mode) {
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
hal.rcout->cork();

2
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -88,7 +88,7 @@ void AP_MotorsMatrix::output_to_motors()
int8_t i;
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final pwm values sent to the motor
switch (_multicopter_flags.spool_mode) {
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
// set motor output based on thrust requests

22
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -193,7 +193,7 @@ void AP_MotorsMulticopter::output()
void AP_MotorsMulticopter::output_min()
{
set_desired_spool_state(DESIRED_SHUT_DOWN);
_multicopter_flags.spool_mode = SHUT_DOWN;
_spool_mode = SHUT_DOWN;
output();
}
@ -385,10 +385,10 @@ void AP_MotorsMulticopter::output_logic()
// force desired and current spool mode if disarmed or not interlocked
if (!_flags.armed || !_flags.interlock) {
_spool_desired = DESIRED_SHUT_DOWN;
_multicopter_flags.spool_mode = SHUT_DOWN;
_spool_mode = SHUT_DOWN;
}
switch (_multicopter_flags.spool_mode) {
switch (_spool_mode) {
case SHUT_DOWN:
// Motors should be stationary.
// Servos set to their trim values or in a test condition.
@ -401,7 +401,7 @@ void AP_MotorsMulticopter::output_logic()
// make sure the motors are spooling in the correct direction
if (_spool_desired != DESIRED_SHUT_DOWN) {
_multicopter_flags.spool_mode = SPIN_WHEN_ARMED;
_spool_mode = SPIN_WHEN_ARMED;
break;
}
@ -427,14 +427,14 @@ void AP_MotorsMulticopter::output_logic()
// constrain ramp value and update mode
if (_spin_up_ratio <= 0.0f) {
_spin_up_ratio = 0.0f;
_multicopter_flags.spool_mode = SHUT_DOWN;
_spool_mode = SHUT_DOWN;
}
} else if(_spool_desired == DESIRED_THROTTLE_UNLIMITED) {
_spin_up_ratio += spool_step;
// constrain ramp value and update mode
if (_spin_up_ratio >= 1.0f) {
_spin_up_ratio = 1.0f;
_multicopter_flags.spool_mode = SPOOL_UP;
_spool_mode = SPOOL_UP;
}
} else { // _spool_desired == SPIN_WHEN_ARMED
float spin_up_armed_ratio = 0.0f;
@ -458,7 +458,7 @@ void AP_MotorsMulticopter::output_logic()
// make sure the motors are spooling in the correct direction
if (_spool_desired != DESIRED_THROTTLE_UNLIMITED ){
_multicopter_flags.spool_mode = SPOOL_DOWN;
_spool_mode = SPOOL_DOWN;
break;
}
@ -469,7 +469,7 @@ void AP_MotorsMulticopter::output_logic()
// constrain ramp value and update mode
if (_throttle_thrust_max >= MIN(get_throttle(), get_current_limit_max_throttle())) {
_throttle_thrust_max = get_current_limit_max_throttle();
_multicopter_flags.spool_mode = THROTTLE_UNLIMITED;
_spool_mode = THROTTLE_UNLIMITED;
} else if (_throttle_thrust_max < 0.0f) {
_throttle_thrust_max = 0.0f;
}
@ -487,7 +487,7 @@ void AP_MotorsMulticopter::output_logic()
// make sure the motors are spooling in the correct direction
if (_spool_desired != DESIRED_THROTTLE_UNLIMITED) {
_multicopter_flags.spool_mode = SPOOL_DOWN;
_spool_mode = SPOOL_DOWN;
break;
}
@ -508,7 +508,7 @@ void AP_MotorsMulticopter::output_logic()
// make sure the motors are spooling in the correct direction
if (_spool_desired == DESIRED_THROTTLE_UNLIMITED) {
_multicopter_flags.spool_mode = SPOOL_UP;
_spool_mode = SPOOL_UP;
break;
}
@ -523,7 +523,7 @@ void AP_MotorsMulticopter::output_logic()
if (_throttle_thrust_max >= get_current_limit_max_throttle()) {
_throttle_thrust_max = get_current_limit_max_throttle();
} else if (is_zero(_throttle_thrust_max)) {
_multicopter_flags.spool_mode = SPIN_WHEN_ARMED;
_spool_mode = SPIN_WHEN_ARMED;
}
break;
}

8
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -82,7 +82,7 @@ public:
float get_throttle_thrust_max() const { return _throttle_thrust_max; }
// return true if spool up is complete
bool spool_up_complete() const { return _multicopter_flags.spool_mode == THROTTLE_UNLIMITED; }
bool spool_up_complete() const { return _spool_mode == THROTTLE_UNLIMITED; }
// output a thrust to all motors that match a given motor
// mask. This is used to control tiltrotor motors in forward
@ -140,11 +140,6 @@ protected:
// save parameters as part of disarming
void save_params_on_disarm();
// flag bitmask
struct {
spool_up_down_mode spool_mode : 3; // motor's current spool mode
} _multicopter_flags;
// parameters
AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range
AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation
@ -166,6 +161,7 @@ protected:
int16_t _throttle_radio_max; // maximum PWM from RC input's throttle channel (i.e. maximum PWM input from receiver, RC3_MAX)
// spool variables
spool_up_down_mode _spool_mode; // motor's current spool mode
float _spin_up_ratio; // throttle percentage (0 ~ 1) between zero and throttle_min
// battery voltage, current and air pressure compensation variables

2
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -117,7 +117,7 @@ void AP_MotorsSingle::enable()
void AP_MotorsSingle::output_to_motors()
{
switch (_multicopter_flags.spool_mode) {
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
hal.rcout->cork();

2
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -124,7 +124,7 @@ void AP_MotorsTri::enable()
void AP_MotorsTri::output_to_motors()
{
switch (_multicopter_flags.spool_mode) {
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
hal.rcout->cork();