mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.0 KiB
C++
70 lines
2.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Motors.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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*/
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#include "AP_Motors_Class.h"
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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// initialise motor map
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const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {MOTOR_TO_CHANNEL_MAP};
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// Constructor
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AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
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_roll_control_input(0.0f),
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_pitch_control_input(0.0f),
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_throttle_control_input(0.0f),
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_yaw_control_input(0.0f),
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_throttle_pwm_scalar(1.0f),
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_rpy_pwm_scalar(0.074f),
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_loop_rate(loop_rate),
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_speed_hz(speed_hz),
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_throttle_radio_min(1100),
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_throttle_radio_max(1900),
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_throttle_in(0.0f),
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_throttle_filter(),
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_batt_voltage(0.0f),
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_batt_current(0.0f),
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_air_density_ratio(1.0f)
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{
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// init other flags
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_flags.armed = false;
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_flags.stabilizing = false;
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_flags.frame_orientation = AP_MOTORS_X_FRAME;
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_flags.interlock = false;
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// setup throttle filtering
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_throttle_filter.set_cutoff_frequency(0.0f);
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_throttle_filter.reset(0.0f);
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// init limit flags
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limit.roll_pitch = true;
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limit.yaw = true;
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limit.throttle_lower = true;
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limit.throttle_upper = true;
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};
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void AP_Motors::armed(bool arm)
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{
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_flags.armed = arm;
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AP_Notify::flags.armed = arm;
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};
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