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Plane: support forced motor class in quadplane

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This commit is contained in:
Andrew Tridgell 2016-04-28 22:37:24 +10:00
parent e428d1e72d
commit 9c0d984a4e
2 changed files with 13 additions and 2 deletions
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10
ArduPlane/quadplane.cpp
View File

@ -13,7 +13,7 @@ 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_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MOTORS_CLASS),
// 3 ~ 8 were used by quadplane attitude control PIDs
@ -303,6 +303,13 @@ bool QuadPlane::setup(void)
goto failed;
}
#ifdef AP_MOTORS_CLASS
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor1, CH_5);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor2, CH_6);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor4, CH_8);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor7, CH_11);
motors = new AP_MOTORS_CLASS(plane.scheduler.get_loop_rate_hz());
#else
/*
dynamically allocate the key objects for quadplane. This ensures
that the objects don't affect the vehicle unless enabled and
@ -333,6 +340,7 @@ bool QuadPlane::setup(void)
hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
goto failed;
}
#endif // AP_MOTORS_CLASS
if (!motors) {
hal.console->printf("Unable to allocate motors\n");
goto failed;

5
ArduPlane/quadplane.h
View File

@ -7,6 +7,9 @@
#include <AC_AttitudeControl/AC_PosControl.h>
#include <AC_WPNav/AC_WPNav.h>
// uncomment this to force a different motor class
// #define AP_MOTORS_CLASS AP_MotorsTri
/*
QuadPlane specific functionality
*/
@ -97,7 +100,7 @@ private:
AP_Int8 frame_class;
AP_Int8 frame_type;
AP_MotorsMulticopter *motors;
AP_MOTORS_CLASS *motors;
AC_AttitudeControl_Multi *attitude_control;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;