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

AP_MotorsTri: get rid of _motor_to_channel_map

Browse Source
This commit is contained in:
Lucas De Marchi 2015-09-29 12:01:12 +09:00 committed by Randy Mackay
parent 1572c9d4f4
commit 537599c01b
1 changed files with 21 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -94,9 +94,9 @@ void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
// set update rate for the 3 motors (but not the servo on channel 7) // set update rate for the 3 motors (but not the servo on channel 7)
uint32_t mask = uint32_t mask =
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) | 1U << AP_MOTORS_MOT_1 |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) | 1U << AP_MOTORS_MOT_2 |
1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]); 1U << AP_MOTORS_MOT_4;
hal.rcout->set_freq(mask, _speed_hz); hal.rcout->set_freq(mask, _speed_hz);
} }
@ -104,9 +104,9 @@ void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
void AP_MotorsTri::enable() void AP_MotorsTri::enable()
{ {
// enable output channels // enable output channels
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1])); hal.rcout->enable_ch(AP_MOTORS_MOT_1);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2])); hal.rcout->enable_ch(AP_MOTORS_MOT_2);
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4])); hal.rcout->enable_ch(AP_MOTORS_MOT_4);
hal.rcout->enable_ch(AP_MOTORS_CH_TRI_YAW); hal.rcout->enable_ch(AP_MOTORS_CH_TRI_YAW);
} }
@ -117,9 +117,9 @@ void AP_MotorsTri::output_min()
limit.throttle_lower = true; limit.throttle_lower = true;
// send minimum value to each motor // send minimum value to each motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _throttle_radio_min); hal.rcout->write(AP_MOTORS_MOT_1, _throttle_radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _throttle_radio_min); hal.rcout->write(AP_MOTORS_MOT_2, _throttle_radio_min);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _throttle_radio_min); hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim); hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
} }
@ -128,9 +128,9 @@ void AP_MotorsTri::output_min()
uint16_t AP_MotorsTri::get_motor_mask() uint16_t AP_MotorsTri::get_motor_mask()
{ {
// tri copter uses channels 1,2,4 and 7 // tri copter uses channels 1,2,4 and 7
return (1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1])) | return (1U << AP_MOTORS_MOT_1) |
(1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2])) | (1U << AP_MOTORS_MOT_2) |
(1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4])) | (1U << AP_MOTORS_MOT_4) |
(1U << AP_MOTORS_CH_TRI_YAW); (1U << AP_MOTORS_CH_TRI_YAW);
} }
@ -172,9 +172,9 @@ void AP_MotorsTri::output_armed_not_stabilizing()
} }
// send output to each motor // send output to each motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), motor_out[AP_MOTORS_MOT_1]); hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), motor_out[AP_MOTORS_MOT_2]); hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]); hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
// send centering signal to yaw servo // send centering signal to yaw servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim); hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
@ -285,9 +285,9 @@ void AP_MotorsTri::output_armed_stabilizing()
} }
// send output to each motor // send output to each motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), motor_out[AP_MOTORS_MOT_1]); hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), motor_out[AP_MOTORS_MOT_2]); hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]); hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
// send out to yaw command to tail servo // send out to yaw command to tail servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, yaw_radio_output); hal.rcout->write(AP_MOTORS_CH_TRI_YAW, yaw_radio_output);
@ -314,11 +314,11 @@ void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
switch (motor_seq) { switch (motor_seq) {
case 1: case 1:
// front right motor // front right motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm); hal.rcout->write(AP_MOTORS_MOT_1, pwm);
break; break;
case 2: case 2:
// back motor // back motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm); hal.rcout->write(AP_MOTORS_MOT_4, pwm);
break; break;
case 3: case 3:
// back servo // back servo
@ -326,7 +326,7 @@ void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
break; break;
case 4: case 4:
// front left motor // front left motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm); hal.rcout->write(AP_MOTORS_MOT_2, pwm);
break; break;
default: default:
// do nothing // do nothing