aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: integrate refs for RC_Channels in motor defs

Browse Source
This commit is contained in:
Randy Mackay 2014-02-10 13:25:11 +09:00 committed by Andrew Tridgell
parent 8baf5ebf4a
commit 2b3995ccb5
1 changed files with 7 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ArduCopter/ArduCopter.pde
View File

@ -474,15 +474,15 @@ static struct {
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.rc_7, g.rc_8, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4);
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.rc_7);
#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps
static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.single_servo_1, &g.single_servo_2, &g.single_servo_3, &g.single_servo_4);
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.single_servo_2, g.single_servo_3, g.single_servo_4);
#elif FRAME_CONFIG == COAX_FRAME // single constructor requires extra servos for flaps
static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.single_servo_1, &g.single_servo_2);
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4, g.single_servo_1, g.single_servo_2);
#else
static MOTOR_CLASS motors(&g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
static MOTOR_CLASS motors(g.rc_1, g.rc_2, g.rc_3, g.rc_4);
#endif
////////////////////////////////////////////////////////////////////////////////
@ -686,12 +686,10 @@ static AP_InertialNav inertial_nav(&ahrs, &barometer, g_gps, gps_glitch);
////////////////////////////////////////////////////////////////////////////////
#if FRAME_CONFIG == HELI_FRAME
AC_AttitudeControl_Heli attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_roll, g.pi_stabilize_pitch, g.pi_stabilize_yaw,
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw,
g.rc_1.servo_out, g.rc_2.servo_out, g.rc_4.servo_out, g.rc_3.servo_out);
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
#else
AC_AttitudeControl attitude_control(ahrs, ins, aparm, motors, g.pi_stabilize_roll, g.pi_stabilize_pitch, g.pi_stabilize_yaw,
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw,
g.rc_1.servo_out, g.rc_2.servo_out, g.rc_4.servo_out, g.rc_3.servo_out);
g.pid_rate_roll, g.pid_rate_pitch, g.pid_rate_yaw);
#endif
AC_PosControl pos_control(ahrs, inertial_nav, motors, attitude_control,
g.pi_alt_hold, g.pid_throttle_rate, g.pid_throttle_accel,