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AP_MotorsCoax: remove output_armed_not_stabilizing

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Leonard Hall 2016-01-20 12:29:24 +09:00 committed by Randy Mackay
parent 45a16d6dad
commit 3df52aad5f
2 changed files with 0 additions and 47 deletions
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46
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -119,53 +119,7 @@ void AP_MotorsCoax::output_min()
hal.rcout->push();
}
void AP_MotorsCoax::output_armed_not_stabilizing()
{
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t out_min = _throttle_radio_min + _min_throttle;
int16_t motor_out;
int16_t min_thr = rel_pwm_to_thr_range(_spin_when_armed_ramped);
// initialize limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = false;
limit.throttle_upper = false;
if (_throttle_control_input <= min_thr) {
_throttle_control_input = min_thr;
limit.throttle_lower = true;
}
if (_throttle_control_input >= _max_throttle) {
_throttle_control_input = _max_throttle;
limit.throttle_upper = true;
}
throttle_radio_output = calc_throttle_radio_output();
motor_out = throttle_radio_output;
_servo1.servo_out = 0;
_servo1.calc_pwm();
_servo2.servo_out = 0;
_servo2.calc_pwm();
if (motor_out >= out_min) {
motor_out = apply_thrust_curve_and_volt_scaling(motor_out, out_min, _throttle_radio_max);
}
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, _servo1.radio_out);
rc_write(AP_MOTORS_MOT_2, _servo2.radio_out);
rc_write(AP_MOTORS_MOT_3, motor_out);
rc_write(AP_MOTORS_MOT_4, motor_out);
hal.rcout->push();
}
// sends commands to the motors
// TODO pull code that is common to output_armed_not_stabilizing into helper functions
void AP_MotorsCoax::output_armed_stabilizing()
{
int16_t yaw_pwm; // yaw pwm value, initially calculated by calc_yaw_pwm() but may be modified after, +/- 400

1
libraries/AP_Motors/AP_MotorsCoax.h
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@ -59,7 +59,6 @@ public:
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_not_stabilizing();
void output_disarmed();
AP_Int8 _rev_roll; // REV Roll feedback