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

AP_Motors: apply HELI_RSC output type if available

Browse Source
This commit is contained in:
Andrew Tridgell 2015-12-05 21:10:52 +11:00
parent 6a58264c6b
commit 79c90d37f6
4 changed files with 14 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
View File

@ -24,8 +24,8 @@ extern const AP_HAL::HAL& hal;
// init_servo - servo initialization on start-up
void AP_MotorsHeli_RSC::init_servo()
{
// set servo range
_servo_output.set_range_out(0,1000);
// setup RSC on specified channel by default
RC_Channel_aux::set_aux_channel_default(_aux_fn, _default_channel);
}
// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
@ -170,9 +170,6 @@ void AP_MotorsHeli_RSC::write_rsc(int16_t servo_out)
// ToDo: We should probably use RC_Channel_Aux to avoid this problem
return;
} else {
_servo_output.servo_out = servo_out;
_servo_output.calc_pwm();
hal.rcout->write(_servo_output_channel, _servo_output.radio_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_heli_rsc, servo_out);
}
}

16
libraries/AP_Motors/AP_MotorsHeli_RSC.h
View File

@ -25,11 +25,11 @@ enum RotorControlMode {
class AP_MotorsHeli_RSC {
public:
AP_MotorsHeli_RSC(RC_Channel& servo_output,
int8_t servo_output_channel,
uint16_t loop_rate) :
_servo_output(servo_output),
_servo_output_channel(servo_output_channel),
AP_MotorsHeli_RSC(RC_Channel_aux::Aux_servo_function_t aux_fn,
uint8_t default_channel,
uint16_t loop_rate) :
_aux_fn(aux_fn),
_default_channel(default_channel),
_loop_rate(loop_rate)
{};
@ -84,10 +84,12 @@ public:
private:
// external variables
RC_Channel& _servo_output;
int8_t _servo_output_channel; // output channel to rotor esc
float _loop_rate; // main loop rate
// channel setup for aux function
RC_Channel_aux::Aux_servo_function_t _aux_fn;
uint8_t _default_channel;
// internal variables
RotorControlMode _control_mode = ROTOR_CONTROL_MODE_DISABLED; // motor control mode, Passthrough or Setpoint
int16_t _critical_speed = 0; // rotor speed below which flight is not possible

4
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -144,10 +144,6 @@ void AP_MotorsHeli_Single::enable()
hal.rcout->enable_ch(AP_MOTORS_MOT_4); // yaw
hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_AUX); // output for gyro gain or direct drive variable pitch tail motor
hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_RSC); // output for main rotor esc
// disable channels 7 and 8 from being used by RC_Channel_aux
RC_Channel_aux::disable_aux_channel(AP_MOTORS_HELI_SINGLE_AUX);
RC_Channel_aux::disable_aux_channel(AP_MOTORS_HELI_SINGLE_RSC);
}
// init_outputs - initialise Servo/PWM ranges and endpoints

4
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -62,8 +62,8 @@ public:
_swash_servo_2(servo_2),
_swash_servo_3(servo_3),
_yaw_servo(servo_4),
_main_rotor(servo_rsc, AP_MOTORS_HELI_SINGLE_RSC, loop_rate),
_tail_rotor(servo_aux, AP_MOTORS_HELI_SINGLE_AUX, loop_rate)
_main_rotor(RC_Channel_aux::k_heli_rsc, AP_MOTORS_HELI_SINGLE_RSC, loop_rate),
_tail_rotor(RC_Channel_aux::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_AUX, loop_rate)
{
AP_Param::setup_object_defaults(this, var_info);
};