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

Plane: make the quadplane motors var_info dynamic

Browse Source 
this will allow for more quadplane motors class types
This commit is contained in:
Andrew Tridgell 2017-02-27 17:39:46 +11:00
parent 47803e73e4
commit 5d06e4238f
2 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduPlane/quadplane.cpp
View File

@ -11,7 +11,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Group: M_
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsMulticopter),
AP_SUBGROUPVARPTR(motors, "M_", 2, QuadPlane, plane.quadplane.motors_var_info),
// 3 ~ 8 were used by quadplane attitude control PIDs
@ -482,20 +482,19 @@ bool QuadPlane::setup(void)
break;
}
const struct AP_Param::GroupInfo *var_info;
switch (motor_class) {
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz());
var_info = AP_MotorsTri::var_info;
motors_var_info = AP_MotorsTri::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz());
var_info = AP_MotorsTailsitter::var_info;
motors_var_info = AP_MotorsTailsitter::var_info;
rotation = ROTATION_PITCH_90;
break;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz());
var_info = AP_MotorsMatrix::var_info;
motors_var_info = AP_MotorsMatrix::var_info;
break;
}
const static char *strUnableToAllocate = "Unable to allocate";
@ -504,7 +503,7 @@ bool QuadPlane::setup(void)
goto failed;
}
AP_Param::load_object_from_eeprom(motors, var_info);
AP_Param::load_object_from_eeprom(motors, motors_var_info);
// create the attitude view used by the VTOL code
ahrs_view = ahrs.create_view(rotation);

2
ArduPlane/quadplane.h
View File

@ -122,6 +122,8 @@ private:
AP_Int8 frame_type;
AP_MotorsMulticopter *motors;
const struct AP_Param::GroupInfo *motors_var_info;
AC_AttitudeControl_Multi *attitude_control;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;