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AP_MotorsHeli: roll, pitch, yaw input in -1 to +1 range

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This commit is contained in:
Leonard Hall 2016-01-22 11:10:36 +09:00 committed by Randy Mackay
parent b701c109cf
commit 97f0b00e3e
1 changed files with 15 additions and 15 deletions
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30
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -223,7 +223,7 @@ void AP_MotorsHeli::output_armed_stabilizing()
reset_flight_controls();
}
move_actuators(_roll_control_input, _pitch_control_input, get_throttle(), _yaw_control_input);
move_actuators(_roll_in, _pitch_in, get_throttle(), _yaw_in);
update_motor_control(ROTOR_CONTROL_ACTIVE);
}
@ -236,7 +236,7 @@ void AP_MotorsHeli::output_armed_zero_throttle()
reset_flight_controls();
}
move_actuators(_roll_control_input, _pitch_control_input, get_throttle(), _yaw_control_input);
move_actuators(_roll_in, _pitch_in, get_throttle(), _yaw_in);
update_motor_control(ROTOR_CONTROL_IDLE);
}
@ -252,31 +252,31 @@ void AP_MotorsHeli::output_disarmed()
switch (_servo_mode) {
case SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH:
// pass pilot commands straight through to swash
_roll_control_input = _roll_radio_passthrough;
_pitch_control_input = _pitch_radio_passthrough;
_roll_in = _roll_radio_passthrough;
_pitch_in = _pitch_radio_passthrough;
_throttle_filter.reset(_throttle_radio_passthrough / 1000.0f);
_yaw_control_input = _yaw_radio_passthrough;
_yaw_in = _yaw_radio_passthrough;
break;
case SERVO_CONTROL_MODE_MANUAL_CENTER:
// fixate mid collective
_roll_control_input = 0;
_pitch_control_input = 0;
_roll_in = 0.0f;
_pitch_in = 0.0f;
_throttle_filter.reset(_collective_mid_pwm / 1000.0f);
_yaw_control_input = 0;
_yaw_in = 0.0f;
break;
case SERVO_CONTROL_MODE_MANUAL_MAX:
// fixate max collective
_roll_control_input = 0;
_pitch_control_input = 0;
_roll_in = 0.0f;
_pitch_in = 0.0f;
_throttle_filter.reset(1.0f);
_yaw_control_input = 4500;
_yaw_in = 1.0f;
break;
case SERVO_CONTROL_MODE_MANUAL_MIN:
// fixate min collective
_roll_control_input = 0;
_pitch_control_input = 0;
_roll_in = 0.0f;
_pitch_in = 0.0f;
_throttle_filter.reset(0.0f);
_yaw_control_input = -4500;
_yaw_in = -1.0f;
break;
case SERVO_CONTROL_MODE_MANUAL_OSCILLATE:
// use servo_test function from child classes
@ -295,7 +295,7 @@ void AP_MotorsHeli::output_disarmed()
calculate_scalars();
// helicopters always run stabilizing flight controls
move_actuators(_roll_control_input, _pitch_control_input, get_throttle(), _yaw_control_input);
move_actuators(_roll_in, _pitch_in, get_throttle(), _yaw_in);
update_motor_control(ROTOR_CONTROL_STOP);
}