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AP_Motors: Add manual servo override to center swash-plate for set-up in AP_MotorsHeli.

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This commit is contained in:
Fredrik Hedberg 2015-10-10 12:29:16 +02:00 committed by Randy Mackay
parent 0df3af4e42
commit 3aeed8173b
2 changed files with 22 additions and 10 deletions
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27
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -60,10 +60,10 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Param: SV_MAN
// @DisplayName: Manual Servo Mode
// @Description: Pass radio inputs directly to servos for set-up. Do not set this manually!
// @Values: 0:Disabled,1:Enabled
// @Description: Manual servo override for swash set-up. Do not set this manually!
// @Values: 0:Disabled,1:Passthrough,2:Center
// @User: Standard
AP_GROUPINFO("SV_MAN", 6, AP_MotorsHeli, _servo_manual, 0),
AP_GROUPINFO("SV_MAN", 6, AP_MotorsHeli, _servo_manual, AP_MOTORS_HELI_MANUAL_OFF),
// @Param: GOV_SETPOINT
// @DisplayName: External Motor Governor Setpoint
@ -161,7 +161,7 @@ void AP_MotorsHeli::Init()
set_update_rate(_speed_hz);
// ensure inputs are not passed through to servos on start-up
_servo_manual = 0;
_servo_manual = AP_MOTORS_HELI_MANUAL_OFF;
// initialise Servo/PWM ranges and endpoints
init_outputs();
@ -208,7 +208,7 @@ void AP_MotorsHeli::output()
void AP_MotorsHeli::output_armed_stabilizing()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual == 1) {
if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
reset_flight_controls();
}
@ -220,7 +220,7 @@ void AP_MotorsHeli::output_armed_stabilizing()
void AP_MotorsHeli::output_armed_not_stabilizing()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual == 1) {
if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
reset_flight_controls();
}
@ -234,7 +234,7 @@ void AP_MotorsHeli::output_armed_not_stabilizing()
void AP_MotorsHeli::output_armed_zero_throttle()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual == 1) {
if (_servo_manual != AP_MOTORS_HELI_MANUAL_OFF) {
reset_flight_controls();
}
@ -246,12 +246,19 @@ void AP_MotorsHeli::output_armed_zero_throttle()
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
// if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
if (_servo_manual == 1) {
// if manual override (i.e. when setting up swash)
if (_servo_manual == AP_MOTORS_HELI_MANUAL_PASSTHROUGH) {
// pass pilot commands straight through to swash
_roll_control_input = _roll_radio_passthrough;
_pitch_control_input = _pitch_radio_passthrough;
_throttle_control_input = _throttle_radio_passthrough;
_yaw_control_input = _yaw_radio_passthrough;
} else if (_servo_manual == AP_MOTORS_HELI_MANUAL_CENTER) {
// center and fixate the swash
_roll_control_input = 0;
_pitch_control_input = 0;
_throttle_control_input = 500;
_yaw_control_input = 0;
}
// ensure swash servo endpoints haven't been moved
@ -334,7 +341,7 @@ void AP_MotorsHeli::reset_radio_passthrough()
void AP_MotorsHeli::reset_flight_controls()
{
reset_radio_passthrough();
_servo_manual = 0;
_servo_manual = AP_MOTORS_HELI_MANUAL_OFF;
init_outputs();
calculate_scalars();
}

5
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -60,6 +60,11 @@
#define AP_MOTORS_HELI_NOFLYBAR 0
#define AP_MOTORS_HELI_FLYBAR 1
// manual servo modes (used for setup)
#define AP_MOTORS_HELI_MANUAL_OFF 0
#define AP_MOTORS_HELI_MANUAL_PASSTHROUGH 1
#define AP_MOTORS_HELI_MANUAL_CENTER 2
class AP_HeliControls;
/// @class AP_MotorsHeli