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AP_Motors: rename MOT_PWM_MODE to MOT_PWM_TYPE 

Randy prefers TYPE
This commit is contained in:
Andrew Tridgell 2016-04-14 07:48:54 +10:00
parent c3546dfbb0
commit fe2065cd72
3 changed files with 9 additions and 9 deletions
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8
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -98,12 +98,12 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @User: Advanced
AP_GROUPINFO("THR_MIX_MAX", 14, AP_MotorsMulticopter, _thr_mix_max, AP_MOTORS_THR_MIX_MAX_DEFAULT),
// @Param: PWM_MODE
// @DisplayName: Output PWM mode
// @Description: This selects the output PWM mode, allowing for normal PWM continuous output or OneShot125
// @Param: PWM_TYPE
// @DisplayName: Output PWM type
// @Description: This selects the output PWM type, allowing for normal PWM continuous output or OneShot125
// @Values: 0:Normal,1:OneShot,2:OneShot125
// @User: Advanced
AP_GROUPINFO("PWM_MODE", 15, AP_MotorsMulticopter, _pwm_mode, PWM_MODE_NORMAL),
AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),
AP_GROUPEND
};

6
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -79,7 +79,7 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
// we have a mapped motor number for this channel
chan = _motor_map[chan];
}
if (_pwm_mode == PWM_MODE_ONESHOT125) {
if (_pwm_type == PWM_TYPE_ONESHOT125) {
// OneShot125 uses a PWM range from 125 to 250 usec
pwm /= 8;
}
@ -92,8 +92,8 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
{
hal.rcout->set_freq(rc_map_mask(mask), freq_hz);
if (_pwm_mode == PWM_MODE_ONESHOT ||
_pwm_mode == PWM_MODE_ONESHOT125) {
if (_pwm_type == PWM_TYPE_ONESHOT ||
_pwm_type == PWM_TYPE_ONESHOT125) {
// tell HAL to do immediate output
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
}

4
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -180,6 +180,6 @@ protected:
float _throttle_radio_passthrough = 0.0f; // throttle/collective input from pilot in 0 ~ 1 range. used for setup and providing servo feedback while landed
float _yaw_radio_passthrough = 0.0f; // yaw input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
enum pwm_mode { PWM_MODE_NORMAL=0, PWM_MODE_ONESHOT=1, PWM_MODE_ONESHOT125=2 };
AP_Int8 _pwm_mode; // PWM output mode
enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2 };
AP_Int8 _pwm_type; // PWM output type
};