SingleCopter: formatting changes
replace tab with 4-spaces remove blank lines
This commit is contained in:
Randy Mackay
parent
374f341c76
commit
586e5a0162
@ -28,9 +28,7 @@ extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_MotorsSingle::var_info[] PROGMEM = {
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// 0 was used by TB_RATIO
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// 0 was used by TB_RATIO
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// @Param: TCRV_ENABLE
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// @DisplayName: Thrust Curve Enable
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@ -49,30 +47,30 @@ const AP_Param::GroupInfo AP_MotorsSingle::var_info[] PROGMEM = {
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// @Description: Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept.
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// @Range: 20 80
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AP_GROUPINFO("TCRV_MAXPCT", 3, AP_MotorsSingle, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
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// @Param: SPIN_ARMED
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// @DisplayName: Motors always spin when armed
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// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
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// @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast
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AP_GROUPINFO("SPIN_ARMED", 5, AP_MotorsSingle, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
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// @Param: REV_ROLL
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// @DisplayName: Reverse roll feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Opposite direction,1:Same direction
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AP_GROUPINFO("REV_ROLL", 6, AP_MotorsSingle, _rev_roll, POSITIVE),
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AP_GROUPINFO("REV_ROLL", 6, AP_MotorsSingle, _rev_roll, AP_MOTORS_SING_POSITIVE),
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// @Param: REV_PITCH
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// @DisplayName: Reverse roll feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Opposite direction,1:Same direction
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AP_GROUPINFO("REV_PITCH", 7, AP_MotorsSingle, _rev_pitch, POSITIVE),
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AP_GROUPINFO("REV_PITCH", 7, AP_MotorsSingle, _rev_pitch, AP_MOTORS_SING_POSITIVE),
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// @Param: REV_ROLL
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// @DisplayName: Reverse roll feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Opposite direction,1:Same direction
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AP_GROUPINFO("REV_YAW", 8, AP_MotorsSingle, _rev_yaw, POSITIVE),
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AP_GROUPINFO("REV_YAW", 8, AP_MotorsSingle, _rev_yaw, AP_MOTORS_SING_POSITIVE),
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// @Param: SV_SPEED
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// @DisplayName: Servo speed
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@ -95,8 +93,7 @@ void AP_MotorsSingle::Init()
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motor_enabled[AP_MOTORS_MOT_1] = true;
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motor_enabled[AP_MOTORS_MOT_2] = true;
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motor_enabled[AP_MOTORS_MOT_3] = true;
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motor_enabled[AP_MOTORS_MOT_4] = true;
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motor_enabled[AP_MOTORS_MOT_4] = true;
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}
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// set update rate to motors - a value in hertz
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@ -112,8 +109,7 @@ void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
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1U << _motor_to_channel_map[AP_MOTORS_MOT_3] |
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1U << _motor_to_channel_map[AP_MOTORS_MOT_4] ;
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hal.rcout->set_freq(mask, _servo_speed);
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uint32_t mask2 =
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1U << _motor_to_channel_map[AP_MOTORS_MOT_7];
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uint32_t mask2 = 1U << _motor_to_channel_map[AP_MOTORS_MOT_7];
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hal.rcout->set_freq(mask2, _speed_hz);
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}
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@ -156,10 +152,8 @@ void AP_MotorsSingle::output_armed()
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_rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle);
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// capture desired throttle from receiver
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_rc_throttle->calc_pwm();
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// if we are not sending a throttle output, we cut the motors
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if(_rc_throttle->servo_out == 0) {
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// range check spin_when_armed
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@ -172,7 +166,7 @@ void AP_MotorsSingle::output_armed()
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motor_out[AP_MOTORS_MOT_7] = _rc_throttle->radio_min + _spin_when_armed;
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}else{
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//motor
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motor_out[AP_MOTORS_MOT_7] = _rc_throttle->radio_out;
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//front
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@ -183,7 +177,7 @@ void AP_MotorsSingle::output_armed()
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_servo3->servo_out = -_rev_roll*_rc_roll->servo_out + _rev_yaw*_rc_yaw->servo_out;
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//left
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_servo4->servo_out = -_rev_pitch*_rc_pitch->servo_out + _rev_yaw*_rc_yaw->servo_out;
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_servo1->calc_pwm();
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_servo2->calc_pwm();
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_servo3->calc_pwm();
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@ -194,10 +188,8 @@ void AP_MotorsSingle::output_armed()
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motor_out[AP_MOTORS_MOT_3] = _servo3->radio_out;
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motor_out[AP_MOTORS_MOT_4] = _servo4->radio_out;
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// adjust for throttle curve
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if( _throttle_curve_enabled ) {
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motor_out[AP_MOTORS_MOT_7] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_7]);
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}
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@ -252,5 +244,4 @@ void AP_MotorsSingle::output_test()
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_max);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_max);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_max);
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}
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@ -6,35 +6,31 @@
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#ifndef __AP_MOTORS_SING_H__
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#define __AP_MOTORS_SING_H__
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#include <AP_Common.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel.h> // RC Channel Library
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#include "AP_Motors.h"
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// feedback direction
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#define POSITIVE 1
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#define NEGATIVE -1
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#define AP_MOTORS_SING_POSITIVE 1
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#define AP_MOTORS_SING_NEGATIVE -1
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#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
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#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
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/// @class AP_MotorsTri
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/// @class AP_MotorsSingle
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class AP_MotorsSingle : public AP_Motors {
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public:
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/// Constructor
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AP_MotorsSingle( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, RC_Channel* servo1, RC_Channel* servo2, RC_Channel* servo3, RC_Channel* servo4, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
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_servo1(servo1),
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_servo2(servo2),
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_servo3(servo3),
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_servo4(servo4)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_servo1(servo1),
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_servo2(servo2),
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_servo3(servo3),
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_servo4(servo4)
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{
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AP_Param::setup_object_defaults(this, var_info);
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};
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// init
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@ -51,10 +47,8 @@ public:
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// output_min - sends minimum values out to the motors
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virtual void output_min();
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// var_info for holding Parameter information
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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@ -62,16 +56,14 @@ protected:
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virtual void output_armed();
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virtual void output_disarmed();
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AP_Int8 _rev_roll; // REV Roll feedback
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AP_Int8 _rev_pitch; // REV pitch feedback
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AP_Int8 _rev_yaw; // REV yaw feedback
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AP_Int16 _servo_speed; // servo speed
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RC_Channel* _servo1;
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RC_Channel* _servo2;
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RC_Channel* _servo3;
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RC_Channel* _servo4;
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AP_Int8 _rev_roll; // REV Roll feedback
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AP_Int8 _rev_pitch; // REV pitch feedback
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AP_Int8 _rev_yaw; // REV yaw feedback
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AP_Int16 _servo_speed; // servo speed
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RC_Channel* _servo1;
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RC_Channel* _servo2;
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RC_Channel* _servo3;
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RC_Channel* _servo4;
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};
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#endif // AP_MOTORSSINGLE
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