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AP_Motors: setup RC speed for tailsitters

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This commit is contained in:
Andrew Tridgell 2017-04-10 14:51:00 +10:00
parent 1db3b31686
commit f571b34fd7
2 changed files with 10 additions and 4 deletions
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9
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -35,6 +35,15 @@ void AP_MotorsTailsitter::init(motor_frame_class frame_class, motor_frame_type f
_flags.initialised_ok = (frame_class == MOTOR_FRAME_TAILSITTER);
}
/// Constructor
AP_MotorsTailsitter::AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz) :
AP_MotorsMulticopter(loop_rate, speed_hz)
{
SRV_Channels::set_rc_frequency(SRV_Channel::k_throttleLeft, speed_hz);
SRV_Channels::set_rc_frequency(SRV_Channel::k_throttleRight, speed_hz);
}
void AP_MotorsTailsitter::output_to_motors()
{
if (!_flags.initialised_ok) {

5
libraries/AP_Motors/AP_MotorsTailsitter.h
View File

@ -12,10 +12,7 @@ class AP_MotorsTailsitter : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMulticopter(loop_rate, speed_hz)
{
};
AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);