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AP_Motors: allow arbitrary mapping of channels on multirotors

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using RCn_FUNCTION with motor1, motor2 etc
This commit is contained in:
Andrew Tridgell 2016-01-04 17:48:55 +11:00
parent 2777ff63ba
commit 77af00c5e1
3 changed files with 17 additions and 2 deletions
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11
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -415,8 +415,15 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
// set order that motor appears in test // set order that motor appears in test
_test_order[motor_num] = testing_order; _test_order[motor_num] = testing_order;
// disable this channel from being used by RC_Channel_aux uint8_t chan;
RC_Channel_aux::disable_aux_channel(motor_num); if (RC_Channel_aux::find_channel((RC_Channel_aux::Aux_servo_function_t)(RC_Channel_aux::k_motor1+motor_num),
chan)) {
_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);
}
} }
} }

4
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -70,5 +70,9 @@ void AP_Motors::armed(bool arm)
*/ */
void AP_Motors::rc_write(uint8_t chan, uint16_t pwm) void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
{ {
if (_motor_map_mask & (1U<<chan)) {
// we have a mapped motor number for this channel
chan = _motor_map[chan];
}
hal.rcout->write(chan, pwm); hal.rcout->write(chan, pwm);
} }

4
libraries/AP_Motors/AP_Motors_Class.h
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@ -160,5 +160,9 @@ protected:
float _batt_voltage; // latest battery voltage reading float _batt_voltage; // latest battery voltage reading
float _batt_current; // latest battery current reading float _batt_current; // latest battery current reading
float _air_density_ratio; // air density / sea level density - decreases in altitude float _air_density_ratio; // air density / sea level density - decreases in altitude
// mapping to output channels
uint8_t _motor_map[AP_MOTORS_MAX_NUM_MOTORS];
uint16_t _motor_map_mask;
}; };
#endif // __AP_MOTORS_CLASS_H__ #endif // __AP_MOTORS_CLASS_H__