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AC_AttControl: use motor accessors to set roll, pitch, yaw, thr

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Randy Mackay 2014-02-10 13:23:52 +09:00 committed by Andrew Tridgell
parent 415e48de19
commit f216cffb77
2 changed files with 6 additions and 15 deletions
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10
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -239,9 +239,9 @@ void AC_AttitudeControl::rate_controller_run()
// call rate controllers and send output to motors object
// To-Do: should the outputs from get_rate_roll, pitch, yaw be int16_t which is the input to the motors library?
// To-Do: skip this step if the throttle out is zero?
_motor_roll = rate_bf_to_motor_roll(_rate_bf_target.x);
_motor_pitch = rate_bf_to_motor_pitch(_rate_bf_target.y);
_motor_yaw = rate_bf_to_motor_yaw(_rate_bf_target.z);
_motors.set_roll(rate_bf_to_motor_roll(_rate_bf_target.x));
_motors.set_pitch(rate_bf_to_motor_pitch(_rate_bf_target.y));
_motors.set_yaw(rate_bf_to_motor_yaw(_rate_bf_target.z));
}
//
@ -438,9 +438,9 @@ float AC_AttitudeControl::rate_bf_to_motor_yaw(float rate_target_cds)
void AC_AttitudeControl::set_throttle_out(int16_t throttle_out, bool apply_angle_boost)
{
if (apply_angle_boost) {
_motor_throttle = get_angle_boost(throttle_out);
_motors.set_throttle(get_angle_boost(throttle_out));
}else{
_motor_throttle = throttle_out;
_motors.set_throttle(throttle_out);
// clear angle_boost for logging purposes
_angle_boost = 0;
}

11
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -41,8 +41,7 @@ public:
const AP_Vehicle::MultiCopter &aparm,
AP_Motors& motors,
APM_PI& pi_angle_roll, APM_PI& pi_angle_pitch, APM_PI& pi_angle_yaw,
AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw,
int16_t& motor_roll, int16_t& motor_pitch, int16_t& motor_yaw, int16_t& motor_throttle
AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw
) :
_ahrs(ahrs),
_ins(ins),
@ -54,10 +53,6 @@ public:
_pid_rate_roll(pid_rate_roll),
_pid_rate_pitch(pid_rate_pitch),
_pid_rate_yaw(pid_rate_yaw),
_motor_roll(motor_roll),
_motor_pitch(motor_pitch),
_motor_yaw(motor_yaw),
_motor_throttle(motor_throttle),
_dt(AC_ATTITUDE_100HZ_DT),
_angle_boost(0)
{
@ -207,10 +202,6 @@ protected:
AC_PID& _pid_rate_roll;
AC_PID& _pid_rate_pitch;
AC_PID& _pid_rate_yaw;
int16_t& _motor_roll; // g.rc_1.servo_out
int16_t& _motor_pitch; // g.rc_2.servo_out
int16_t& _motor_yaw; // g.rc_4.servo_out
int16_t& _motor_throttle; // g.rc_3.servo_out
// parameters
AP_Float _angle_rate_rp_max; // maximum rate request output from the earth-frame angle controller for roll and pitch axis