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AP_Motors: correct initialised_ok state for HeliDual+Quad

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initialised_ok was being set to false when frame/class was set as the
method was not overridden and thus Heli's set_frame_and_class was
setting initialised_ok to false.  When the init_output method was called
it would be unconditionally reset to true.
This commit is contained in:
Peter Barker 2022-05-11 22:36:39 +10:00 committed by Randy Mackay
parent 4240ad7ae9
commit 434f49e6b6
5 changed files with 9 additions and 11 deletions
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6
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -190,12 +190,6 @@ void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_t
_mav_type = MAV_TYPE_HELICOPTER;
}
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void AP_MotorsHeli::set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type)
{
set_initialised_ok(frame_class == MOTOR_FRAME_HELI);
}
// output_min - sets servos to neutral point with motors stopped
void AP_MotorsHeli::output_min()
{

8
libraries/AP_Motors/AP_MotorsHeli.h
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@ -52,7 +52,10 @@ public:
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {
_frame_class = frame_class;
_frame_type = frame_type;
}
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) override = 0;
@ -198,7 +201,8 @@ protected:
// reset_swash_servo - free up swash servo for maximum movement
void reset_swash_servo(SRV_Channel::Aux_servo_function_t function);
// init_outputs - initialise Servo/PWM ranges and endpoints
// init_outputs - initialise Servo/PWM ranges and endpoints. This
// method also updates the initialised flag.
virtual bool init_outputs() = 0;
// calculate_armed_scalars - must be implemented by child classes

2
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -267,7 +267,7 @@ bool AP_MotorsHeli_Dual::init_outputs()
reset_swash_servo(SRV_Channels::get_motor_function(7));
}
set_initialised_ok(true);
set_initialised_ok(_frame_class == MOTOR_FRAME_HELI_DUAL);
return true;
}

2
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
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@ -67,7 +67,7 @@ bool AP_MotorsHeli_Quad::init_outputs()
_main_rotor.set_ext_gov_arot_bail(0);
}
set_initialised_ok(true);
set_initialised_ok(_frame_class == MOTOR_FRAME_HELI_QUAD);
return true;
}

2
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -215,7 +215,7 @@ bool AP_MotorsHeli_Single::init_outputs()
// yaw servo is an angle from -4500 to 4500
SRV_Channels::set_angle(SRV_Channel::k_motor4, YAW_SERVO_MAX_ANGLE);
set_initialised_ok(true);
set_initialised_ok(_frame_class == MOTOR_FRAME_HELI);
return true;
}