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Plane: fixes for tilt quadplane after rebase

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This commit is contained in:
Andrew Tridgell 2017-01-23 09:29:51 +11:00
parent 2feaa9926c
commit 586f8a9ca8
2 changed files with 3 additions and 3 deletions
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2
ArduPlane/quadplane.cpp
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@ -332,7 +332,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @DisplayName: Tiltrotor type
// @Description: This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE
// @Values: 0:Continuous,1:Binary
AP_GROUPINFO("TILT_TYPE", 46, QuadPlane, tilt.tilt_type, TILT_TYPE_CONTINUOUS),
AP_GROUPINFO("TILT_TYPE", 47, QuadPlane, tilt.tilt_type, TILT_TYPE_CONTINUOUS),
AP_GROUPEND
};

4
ArduPlane/tiltrotor.cpp
View File

@ -104,7 +104,7 @@ void QuadPlane::tiltrotor_continuous_update(void)
*/
void QuadPlane::tiltrotor_binary_slew(bool forward)
{
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_motor_tilt, forward?1000:0);
SRV_Channels::set_output_scaled(SRV_Channel::k_motor_tilt, forward?1000:0);
float max_change = (tilt.max_rate_dps.get() * plane.G_Dt) / 90.0f;
if (forward) {
@ -130,7 +130,7 @@ void QuadPlane::tiltrotor_binary_update(void)
// all the way forward and run them as a forward motor
tiltrotor_binary_slew(true);
float new_throttle = plane.channel_throttle->get_servo_out()*0.01f;
float new_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)*0.01f;
if (tilt.current_tilt >= 1) {
uint8_t mask = is_zero(new_throttle)?0:(uint8_t)tilt.tilt_mask.get();
// the motors are all the way forward, start using them for fwd thrust