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AP_Motors: allow tricopter motor 7 to be moved to any output

This commit is contained in:
Andrew Tridgell 2016-04-21 17:32:25 +10:00
parent 0e775f595d
commit f2c63e24c5
5 changed files with 32 additions and 17 deletions
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11
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -325,15 +325,8 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
// set order that motor appears in test
_test_order[motor_num] = testing_order;
uint8_t chan;
if (RC_Channel_aux::find_channel((RC_Channel_aux::Aux_servo_function_t)(RC_Channel_aux::k_motor1+motor_num),
chan)) {
_motor_map[motor_num] = chan;
_motor_map_mask |= 1U<<motor_num;
} else {
// disable this channel from being used by RC_Channel_aux
RC_Channel_aux::disable_aux_channel(motor_num);
}
// call parent class method
add_motor_num(motor_num);
}
}

4
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -80,8 +80,8 @@ void AP_MotorsSingle::Init()
_servo3.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo4.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
// disable CH7 from being used as an aux output (i.e. for camera gimbal, etc)
RC_Channel_aux::disable_aux_channel(CH_7);
// allow mapping of motor7
add_motor_num(CH_7);
}
// set update rate to motors - a value in hertz

12
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -90,8 +90,8 @@ void AP_MotorsTri::Init()
motor_enabled[AP_MOTORS_MOT_2] = true;
motor_enabled[AP_MOTORS_MOT_4] = true;
// disable CH7 from being used as an aux output (i.e. for camera gimbal, etc)
RC_Channel_aux::disable_aux_channel(AP_MOTORS_CH_TRI_YAW);
// allow mapping of motor7
add_motor_num(AP_MOTORS_CH_TRI_YAW);
}
// set update rate to motors - a value in hertz
@ -158,10 +158,10 @@ void AP_MotorsTri::output_to_motors()
uint16_t AP_MotorsTri::get_motor_mask()
{
// tri copter uses channels 1,2,4 and 7
return rc_map_mask(1U << AP_MOTORS_MOT_1) |
(1U << AP_MOTORS_MOT_2) |
(1U << AP_MOTORS_MOT_4) |
(1U << AP_MOTORS_CH_TRI_YAW);
return rc_map_mask((1U << AP_MOTORS_MOT_1) |
(1U << AP_MOTORS_MOT_2) |
(1U << AP_MOTORS_MOT_4) |
(1U << AP_MOTORS_CH_TRI_YAW));
}
// output_armed - sends commands to the motors

19
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -173,3 +173,22 @@ int16_t AP_Motors::calc_pwm_output_0to1(float input, const RC_Channel& servo)
return constrain_int16(ret, servo.radio_min, servo.radio_max);
}
/*
add a motor, setting up _motor_map and _motor_map_mask as needed
*/
void AP_Motors::add_motor_num(int8_t motor_num)
{
// ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
uint8_t chan;
if (RC_Channel_aux::find_channel((RC_Channel_aux::Aux_servo_function_t)(RC_Channel_aux::k_motor1+motor_num),
chan)) {
_motor_map[motor_num] = chan;
_motor_map_mask |= 1U<<motor_num;
} else {
// disable this channel from being used by RC_Channel_aux
RC_Channel_aux::disable_aux_channel(motor_num);
}
}
}

3
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -137,6 +137,9 @@ protected:
virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz);
virtual void rc_enable_ch(uint8_t chan);
virtual uint32_t rc_map_mask(uint32_t mask) const;
// add a motor to the motor map
void add_motor_num(int8_t motor_num);
// update the throttle input filter
virtual void update_throttle_filter() = 0;