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Copter: remove tradheli swash, yaw and rsc servos

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These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused
This commit is contained in:
Randy Mackay 2016-02-08 20:15:48 +09:00
parent c4b88aafef
commit 1f37f5a0e7
3 changed files with 6 additions and 38 deletions
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2
ArduCopter/Copter.cpp
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@ -30,7 +30,7 @@ Copter::Copter(void) :
FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)),
control_mode(STABILIZE),
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
motors(g.rc_7, MAIN_LOOP_RATE),
#else
motors(MAIN_LOOP_RATE),
#endif

18
ArduCopter/Parameters.cpp
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@ -533,24 +533,6 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Advanced
GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1),
#if FRAME_CONFIG == HELI_FRAME
// @Group: HS1_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_1, "HS1_", RC_Channel),
// @Group: HS2_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_2, "HS2_", RC_Channel),
// @Group: HS3_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_3, "HS3_", RC_Channel),
// @Group: HS4_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_4, "HS4_", RC_Channel),
// @Group: H_RSC_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_rsc, "H_RSC_", RC_Channel),
#endif
// RC channel
//-----------
// @Group: RC1_

24
ArduCopter/Parameters.h
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@ -161,16 +161,16 @@ public:
//
// 80: Heli
//
k_param_heli_servo_1 = 80,
k_param_heli_servo_2,
k_param_heli_servo_3,
k_param_heli_servo_4,
k_param_heli_servo_1 = 80, // remove
k_param_heli_servo_2, // remove
k_param_heli_servo_3, // remove
k_param_heli_servo_4, // remove
k_param_heli_pitch_ff, // remove
k_param_heli_roll_ff, // remove
k_param_heli_yaw_ff, // remove
k_param_heli_stab_col_min, // remove
k_param_heli_stab_col_max, // remove
k_param_heli_servo_rsc, // 89 = full!
k_param_heli_servo_rsc, // 89 = full! - remove
//
// 90: misc2
@ -453,12 +453,6 @@ public:
AP_Int8 throw_motor_start;
#if FRAME_CONFIG == HELI_FRAME
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
RC_Channel heli_servo_rsc; // servo for rotor speed control output
#endif
// RC channels
RC_Channel rc_1;
RC_Channel rc_2;
@ -515,14 +509,6 @@ public:
// above.
Parameters() :
#if FRAME_CONFIG == HELI_FRAME
heli_servo_1 (CH_1),
heli_servo_2 (CH_2),
heli_servo_3 (CH_3),
heli_servo_4 (CH_4),
heli_servo_rsc (CH_8),
#endif
rc_1 (CH_1),
rc_2 (CH_2),
rc_3 (CH_3),