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

AP_Motors: adapt to new RC_Channel API

Browse Source
This commit is contained in:
Andrew Tridgell 2017-01-03 20:56:57 +11:00
parent 04ce73d8d7
commit 638f1364be
13 changed files with 112 additions and 125 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
libraries/AP_Motors/AP_MotorsCoax.cpp
View File

@ -22,6 +22,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "AP_MotorsCoax.h"
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -44,19 +45,6 @@ const AP_Param::GroupInfo AP_MotorsCoax::var_info[] = {
// @Units: Hz
AP_GROUPINFO("SV_SPEED", 43, AP_MotorsCoax, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS),
// @Group: SV1_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo1, "SV1_", 44, AP_MotorsCoax, RC_Channel),
// @Group: SV2_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo2, "SV2_", 45, AP_MotorsCoax, RC_Channel),
// @Group: SV3_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo3, "SV3_", 46, AP_MotorsCoax, RC_Channel),
// @Group: SV4_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo4, "SV4_", 47, AP_MotorsCoax, RC_Channel),
AP_GROUPEND
};
// init
@ -65,19 +53,25 @@ void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_t
// set update rate for the 3 motors (but not the servo on channel 7)
set_update_rate(_speed_hz);
_servo1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1);
_servo2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
_servo3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
_servo4 = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
if (!_servo1 || !_servo2 || !_servo3 || !_servo4) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "MotorsCoax: unable to setup output channels");
// don't set initialised_ok
return;
}
// set the motor_enabled flag so that the main ESC can be calibrated like other frame types
motor_enabled[AP_MOTORS_MOT_5] = true;
motor_enabled[AP_MOTORS_MOT_6] = true;
// we set four servos to angle
_servo1.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo2.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo3.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo4.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo1.set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo2.set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo3.set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo4.set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo1->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo2->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo3->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo4->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
// record successful initialisation if what we setup was the desired frame_class
_flags.initialised_ok = (frame_class == MOTOR_FRAME_COAX);

15
libraries/AP_Motors/AP_MotorsCoax.h
View File

@ -4,7 +4,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsMulticopter.h"
// feedback direction
@ -24,8 +24,7 @@ public:
/// Constructor
AP_MotorsCoax(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMulticopter(loop_rate, speed_hz),
_servo1(CH_NONE), _servo2(CH_NONE), _servo3(CH_NONE), _servo4(CH_NONE)
AP_MotorsMulticopter(loop_rate, speed_hz)
{
AP_Param::setup_object_defaults(this, var_info);
};
@ -64,13 +63,11 @@ protected:
// servo speed
AP_Int16 _servo_speed;
// Allow the use of a 4 servo output to make it easy to test coax and single using same airframe
RC_Channel _servo1;
RC_Channel _servo2;
RC_Channel _servo3;
RC_Channel _servo4;
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_yt_ccw;
float _thrust_yt_cw;
SRV_Channel *_servo1;
SRV_Channel *_servo2;
SRV_Channel *_servo3;
SRV_Channel *_servo4;
};

13
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -194,7 +194,10 @@ void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_t
_throttle_radio_passthrough = 0.5f;
// initialise Servo/PWM ranges and endpoints
init_outputs();
if (!init_outputs()) {
// don't set initialised_ok
return;
}
// calculate all scalars
calculate_scalars();
@ -367,13 +370,13 @@ bool AP_MotorsHeli::parameter_check(bool display_msg) const
}
// reset_swash_servo
void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo)
void AP_MotorsHeli::reset_swash_servo(SRV_Channel *servo)
{
servo.set_range_out(0, 1000);
servo->set_range(1000);
// swash servos always use full endpoints as restricting them would lead to scaling errors
servo.set_radio_min(1000);
servo.set_radio_max(2000);
servo->set_output_min(1000);
servo->set_output_max(2000);
}
// update the throttle input filter

7
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -6,7 +6,8 @@
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <RC_Channel/RC_Channel.h>
#include <SRV_Channel/SRV_Channel.h>
#include "AP_Motors_Class.h"
#include "AP_MotorsHeli_RSC.h"
@ -160,10 +161,10 @@ protected:
virtual void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) = 0;
// reset_swash_servo - free up swash servo for maximum movement
void reset_swash_servo(RC_Channel& servo);
void reset_swash_servo(SRV_Channel *servo);
// init_outputs - initialise Servo/PWM ranges and endpoints
virtual void init_outputs() = 0;
virtual bool init_outputs() = 0;
// calculate_armed_scalars - must be implemented by child classes
virtual void calculate_armed_scalars() = 0;

4
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
View File

@ -24,7 +24,7 @@ extern const AP_HAL::HAL& hal;
void AP_MotorsHeli_RSC::init_servo()
{
// setup RSC on specified channel by default
RC_Channel_aux::set_aux_channel_default(_aux_fn, _default_channel);
SRV_Channels::set_aux_channel_default(_aux_fn, _default_channel);
}
// set_power_output_range
@ -194,6 +194,6 @@ void AP_MotorsHeli_RSC::write_rsc(float servo_out)
} else {
pwm = _pwm_max - pwm;
}
RC_Channel_aux::set_radio(_aux_fn, pwm);
SRV_Channels::set_output_pwm(_aux_fn, pwm);
}
}

7
libraries/AP_Motors/AP_MotorsHeli_RSC.h
View File

@ -2,7 +2,8 @@
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <RC_Channel/RC_Channel.h>
#include <SRV_Channel/SRV_Channel.h>
// rotor controller states
enum RotorControlState {
@ -24,7 +25,7 @@ class AP_MotorsHeli_RSC {
public:
friend class AP_MotorsHeli_Single;
AP_MotorsHeli_RSC(RC_Channel_aux::Aux_servo_function_t aux_fn,
AP_MotorsHeli_RSC(SRV_Channel::Aux_servo_function_t aux_fn,
uint8_t default_channel) :
_aux_fn(aux_fn),
_default_channel(default_channel)
@ -80,7 +81,7 @@ private:
uint64_t _last_update_us;
// channel setup for aux function
RC_Channel_aux::Aux_servo_function_t _aux_fn;
SRV_Channel::Aux_servo_function_t _aux_fn;
uint8_t _default_channel;
// internal variables

39
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -15,7 +15,7 @@
#include <stdlib.h>
#include <AP_HAL/AP_HAL.h>
#include <RC_Channel/RC_Channel.h>
#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsHeli_Single.h"
#include <GCS_MAVLink/GCS.h>
@ -116,22 +116,6 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @User: Standard
AP_GROUPINFO("GYR_GAIN_ACRO", 11, AP_MotorsHeli_Single, _ext_gyro_gain_acro, 0),
// @Group: SV1_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_1, "SV1_", 12, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV2_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_2, "SV2_", 13, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV3_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_3, "SV3_", 14, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV4_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_yaw_servo, "SV4_", 15, AP_MotorsHeli_Single, RC_Channel),
// @Param: RSC_PWM_MIN
// @DisplayName: RSC PWM output miniumum
// @Description: This sets the PWM output on RSC channel for maximum rotor speed
@ -186,18 +170,31 @@ void AP_MotorsHeli_Single::enable()
}
// init_outputs - initialise Servo/PWM ranges and endpoints
void AP_MotorsHeli_Single::init_outputs()
bool AP_MotorsHeli_Single::init_outputs()
{
if (!_flags.initialised_ok) {
_swash_servo_1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1);
_swash_servo_2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
_swash_servo_3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
_yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
_servo_aux = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, CH_7);
if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo || !_servo_aux) {
return false;
}
}
// reset swash servo range and endpoints
reset_swash_servo (_swash_servo_1);
reset_swash_servo (_swash_servo_2);
reset_swash_servo (_swash_servo_3);
_yaw_servo.set_angle(4500);
_yaw_servo->set_angle(4500);
// set main rotor servo range
// tail rotor servo use range as set in vehicle code for rc7
_main_rotor.init_servo();
return true;
}
// output_test - spin a motor at the pwm value specified
@ -357,10 +354,10 @@ void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
if (state == ROTOR_CONTROL_STOP){
// set engine run enable aux output to not run position to kill engine when disarmed
RC_Channel_aux::set_radio_to_min(RC_Channel_aux::k_engine_run_enable);
SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
} else {
// else if armed, set engine run enable output to run position
RC_Channel_aux::set_radio_to_max(RC_Channel_aux::k_engine_run_enable);
SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
}
// Check if both rotors are run-up, tail rotor controller always returns true if not enabled

24
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -4,7 +4,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsHeli.h"
#include "AP_MotorsHeli_RSC.h"
@ -42,14 +42,11 @@
class AP_MotorsHeli_Single : public AP_MotorsHeli {
public:
// constructor
AP_MotorsHeli_Single(RC_Channel& servo_aux,
uint16_t loop_rate,
AP_MotorsHeli_Single(uint16_t loop_rate,
uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
AP_MotorsHeli(loop_rate, speed_hz),
_servo_aux(servo_aux),
_main_rotor(RC_Channel_aux::k_heli_rsc, AP_MOTORS_HELI_SINGLE_RSC),
_tail_rotor(RC_Channel_aux::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_AUX),
_swash_servo_1(CH_NONE), _swash_servo_2(CH_NONE), _swash_servo_3(CH_NONE), _yaw_servo(CH_NONE)
_main_rotor(SRV_Channel::k_heli_rsc, AP_MOTORS_HELI_SINGLE_RSC),
_tail_rotor(SRV_Channel::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_AUX)
{
AP_Param::setup_object_defaults(this, var_info);
};
@ -107,7 +104,7 @@ public:
protected:
// init_outputs - initialise Servo/PWM ranges and endpoints
void init_outputs();
bool init_outputs() override;
// update_motor_controls - sends commands to motor controllers
void update_motor_control(RotorControlState state);
@ -128,7 +125,6 @@ protected:
void servo_test();
// external objects we depend upon
RC_Channel& _servo_aux; // output to ext gyro gain and tail direct drive esc (ch7)
AP_MotorsHeli_RSC _main_rotor; // main rotor
AP_MotorsHeli_RSC _tail_rotor; // tail rotor
@ -152,10 +148,12 @@ protected:
AP_Float _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
RC_Channel _swash_servo_1; // swash plate servo #1
RC_Channel _swash_servo_2; // swash plate servo #2
RC_Channel _swash_servo_3; // swash plate servo #3
RC_Channel _yaw_servo; // tail servo
SRV_Channel *_swash_servo_1;
SRV_Channel *_swash_servo_2;
SRV_Channel *_swash_servo_3;
SRV_Channel *_yaw_servo;
SRV_Channel *_servo_aux;
bool _acro_tail = false;
};

41
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -22,6 +22,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "AP_MotorsSingle.h"
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -44,19 +45,6 @@ const AP_Param::GroupInfo AP_MotorsSingle::var_info[] = {
// @Values: 50, 125, 250
AP_GROUPINFO("SV_SPEED", 43, AP_MotorsSingle, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS),
// @Group: SV1_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo1, "SV1_", 44, AP_MotorsSingle, RC_Channel),
// @Group: SV2_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo2, "SV2_", 45, AP_MotorsSingle, RC_Channel),
// @Group: SV3_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo3, "SV3_", 46, AP_MotorsSingle, RC_Channel),
// @Group: SV4_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_servo4, "SV4_", 47, AP_MotorsSingle, RC_Channel),
AP_GROUPEND
};
// init
@ -69,15 +57,21 @@ void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame
motor_enabled[AP_MOTORS_MOT_5] = true;
motor_enabled[AP_MOTORS_MOT_6] = true;
_servo1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1);
_servo2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
_servo3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
_servo4 = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
if (!_servo1 || !_servo2 || !_servo3 || !_servo4) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_ERROR, "MotorsSingle: unable to setup output channels");
// don't set initialised_ok
return;
}
// we set four servos to angle
_servo1.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo2.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo3.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo4.set_type(RC_CHANNEL_TYPE_ANGLE);
_servo1.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo2.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo3.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo4.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo1->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo2->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo3->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo4->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
// allow mapping of motor7
add_motor_num(CH_7);
@ -89,7 +83,7 @@ void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void AP_MotorsSingle::set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type)
{
_flags.initialised_ok = (frame_class == MOTOR_FRAME_SINGLE);
// nothing to do
}
// set update rate to motors - a value in hertz
@ -125,6 +119,9 @@ void AP_MotorsSingle::enable()
void AP_MotorsSingle::output_to_motors()
{
if (!_flags.initialised_ok) {
return;
}
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors

14
libraries/AP_Motors/AP_MotorsSingle.h
View File

@ -4,7 +4,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsMulticopter.h"
// feedback direction
@ -24,8 +24,7 @@ public:
/// Constructor
AP_MotorsSingle(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMulticopter(loop_rate, speed_hz),
_servo1(CH_NONE), _servo2(CH_NONE), _servo3(CH_NONE), _servo4(CH_NONE)
AP_MotorsMulticopter(loop_rate, speed_hz)
{
AP_Param::setup_object_defaults(this, var_info);
};
@ -64,12 +63,11 @@ protected:
// servo speed
AP_Int16 _servo_speed;
RC_Channel _servo1;
RC_Channel _servo2;
RC_Channel _servo3;
RC_Channel _servo4;
int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_out;
SRV_Channel *_servo1;
SRV_Channel *_servo2;
SRV_Channel *_servo3;
SRV_Channel *_servo4;
};

29
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -21,6 +21,8 @@
#include "AP_Motors_Class.h"
#include <AP_HAL/AP_HAL.h>
#include <SRV_Channel/SRV_Channel.h>
extern const AP_HAL::HAL& hal;
// Constructor
@ -153,39 +155,39 @@ uint32_t AP_Motors::rc_map_mask(uint32_t mask) const
}
// convert input in -1 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_1to1(float input, const RC_Channel& servo)
int16_t AP_Motors::calc_pwm_output_1to1(float input, const SRV_Channel *servo)
{
int16_t ret;
input = constrain_float(input, -1.0f, 1.0f);
if (servo.get_reverse()) {
if (servo->get_reversed()) {
input = -input;
}
if (input >= 0.0f) {
ret = ((input * (servo.get_radio_max() - servo.get_radio_trim())) + servo.get_radio_trim());
ret = ((input * (servo->get_output_max() - servo->get_trim())) + servo->get_trim());
} else {
ret = ((input * (servo.get_radio_trim() - servo.get_radio_min())) + servo.get_radio_trim());
ret = ((input * (servo->get_trim() - servo->get_output_min())) + servo->get_trim());
}
return constrain_int16(ret, servo.get_radio_min(), servo.get_radio_max());
return constrain_int16(ret, servo->get_output_min(), servo->get_output_max());
}
// convert input in 0 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_0to1(float input, const RC_Channel& servo)
int16_t AP_Motors::calc_pwm_output_0to1(float input, const SRV_Channel *servo)
{
int16_t ret;
input = constrain_float(input, 0.0f, 1.0f);
if (servo.get_reverse()) {
if (servo->get_reversed()) {
input = 1.0f-input;
}
ret = input * (servo.get_radio_max() - servo.get_radio_min()) + servo.get_radio_min();
ret = input * (servo->get_output_max() - servo->get_output_min()) + servo->get_output_min();
return constrain_int16(ret, servo.get_radio_min(), servo.get_radio_max());
return constrain_int16(ret, servo->get_output_min(), servo->get_output_max());
}
/*
@ -196,13 +198,12 @@ void AP_Motors::add_motor_num(int8_t motor_num)
// ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
uint8_t chan;
if (RC_Channel_aux::find_channel((RC_Channel_aux::Aux_servo_function_t)(RC_Channel_aux::k_motor1+motor_num),
chan)) {
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num);
SRV_Channels::set_aux_channel_default(function, motor_num);
if (SRV_Channels::find_channel((SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num),
chan) && chan != motor_num) {
_motor_map[motor_num] = chan;
_motor_map_mask |= 1U<<motor_num;
} else {
// disable this channel from being used by RC_Channel_aux
RC_Channel_aux::disable_aux_channel(motor_num);
}
}
}

6
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -3,7 +3,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Notify/AP_Notify.h> // Notify library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <SRV_Channel/SRV_Channel.h>
#include <Filter/Filter.h> // filter library
// offsets for motors in motor_out and _motor_filtered arrays
@ -167,10 +167,10 @@ protected:
virtual void save_params_on_disarm() {}
// convert input in -1 to +1 range to pwm output
int16_t calc_pwm_output_1to1(float input, const RC_Channel& servo);
int16_t calc_pwm_output_1to1(float input, const SRV_Channel *servo);
// convert input in 0 to +1 range to pwm output
int16_t calc_pwm_output_0to1(float input, const RC_Channel& servo);
int16_t calc_pwm_output_0to1(float input, const SRV_Channel *servo);
// flag bitmask
struct AP_Motors_flags {

2
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
View File

@ -74,7 +74,7 @@ void setup()
// set rc channel ranges
rc1.set_angle(4500);
rc2.set_angle(4500);
rc3.set_range(130, 1000);
rc3.set_range(1000);
rc4.set_angle(4500);
hal.scheduler->delay(1000);