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ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library

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This commit is contained in:
rmackay9 2012-09-13 21:31:13 +09:00
parent 1c9fe3b1b6
commit 9e66b555cb
10 changed files with 12 additions and 100 deletions
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12
ArduCopter/ArduCopter.pde
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@ -433,23 +433,11 @@ static byte oldSwitchPosition;
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
#endif
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
#endif
#else
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
#endif
#endif
////////////////////////////////////////////////////////////////////////////////

7
ArduCopter/config.h
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@ -123,12 +123,7 @@
//////////////////////////////////////////////////////////////////////////////
// PWM control
//
#ifndef INSTANT_PWM
# define INSTANT_PWM DISABLED
#endif
// default RC speed in Hz if INSTANT_PWM is not used
// default RC speed in Hz
#ifndef RC_FAST_SPEED
# if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125

5
ArduCopter/radio.pde
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@ -64,12 +64,7 @@ static void init_rc_out()
{
APM_RC.Init( &isr_registry ); // APM Radio initialization
#if INSTANT_PWM == 1
motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
#else
motors.set_update_rate(g.rc_speed);
#endif
motors.set_frame_orientation(g.frame_orientation);
motors.Init(); // motor initialisation
motors.set_min_throttle(g.throttle_min);

5
libraries/AP_Motors/AP_Motors.h
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@ -39,9 +39,8 @@
#define AP_MOTORS_X_FRAME 1
#define AP_MOTORS_V_FRAME 2
// motor update rates
// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490
#define AP_MOTORS_SPEED_INSTANT_PWM 0
// top-bottom ratio (for Y6)
#define AP_MOTORS_TOP_BOTTOM_RATIO 1.0
@ -69,7 +68,7 @@ public:
_motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
}
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) {
_speed_hz = speed_hz;
};

12
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -170,16 +170,14 @@ void AP_MotorsHeli::Init()
set_update_rate(_speed_hz);
}
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// set update rate to motors - a value in hertz
void AP_MotorsHeli::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
// setup fast channels
if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
_rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_3]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
}
_rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_3]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
}
// enable - starts allowing signals to be sent to motors
@ -498,12 +496,6 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
if( ext_gyro_enabled ) {
_rc->OutputCh(AP_MOTORS_HELI_EXT_GYRO, ext_gyro_gain);
}
// InstantPWM
if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
_rc->Force_Out0_Out1();
_rc->Force_Out2_Out3();
}
}
void AP_MotorsHeli::rsc_control()

2
libraries/AP_Motors/AP_MotorsHeli.h
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@ -106,7 +106,7 @@ public:
// init
void Init();
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// set update rate to motors - a value in hertz
// you must have setup_motors before calling this
void set_update_rate( uint16_t speed_hz );

39
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -28,7 +28,7 @@ void AP_MotorsMatrix::Init()
set_update_rate(_speed_hz);
}
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// set update rate to motors - a value in hertz
void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
{
uint32_t fast_channel_mask = 0;
@ -37,31 +37,16 @@ void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
// record requested speed
_speed_hz = speed_hz;
// initialise instant_pwm booleans. they will be set again below
instant_pwm_force01 = false;
instant_pwm_force23 = false;
instant_pwm_force67 = false;
// check each enabled motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
// set-up fast channel mask
fast_channel_mask |= _BV(_motor_to_channel_map[i]); // add to fast channel map
// and instant pwm
if( _motor_to_channel_map[i] == 0 || _motor_to_channel_map[i] == 1 )
instant_pwm_force01 = true;
if( _motor_to_channel_map[i] == 2 || _motor_to_channel_map[i] == 3 )
instant_pwm_force23 = true;
if( _motor_to_channel_map[i] == 6 || _motor_to_channel_map[i] == 7 )
instant_pwm_force67 = true;
}
}
// enable fast channels
if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
_rc->SetFastOutputChannels(fast_channel_mask, _speed_hz);
}
_rc->SetFastOutputChannels(fast_channel_mask, _speed_hz);
}
// set frame orientation (normally + or X)
@ -107,16 +92,6 @@ void AP_MotorsMatrix::output_min()
_rc->OutputCh(_motor_to_channel_map[i], motor_out[i]);
}
}
// Force output if instant pwm
if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
if( instant_pwm_force01 )
_rc->Force_Out0_Out1();
if( instant_pwm_force23 )
_rc->Force_Out2_Out3();
if( instant_pwm_force67 )
_rc->Force_Out6_Out7();
}
}
// output_armed - sends commands to the motors
@ -189,16 +164,6 @@ void AP_MotorsMatrix::output_armed()
_rc->OutputCh(_motor_to_channel_map[i], motor_out[i]);
}
}
// InstantPWM
if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
if( instant_pwm_force01 )
_rc->Force_Out0_Out1();
if( instant_pwm_force23 )
_rc->Force_Out2_Out3();
if( instant_pwm_force67 )
_rc->Force_Out6_Out7();
}
}
// output_disarmed - sends commands to the motors

10
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -26,16 +26,13 @@ public:
/// Constructor
AP_MotorsMatrix( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
instant_pwm_force01(false),
instant_pwm_force23(false),
instant_pwm_force67(false),
_num_motors(0) {
};
// init
virtual void Init();
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// set update rate to motors - a value in hertz
// you must have setup_motors before calling this
virtual void set_update_rate( uint16_t speed_hz );
@ -74,11 +71,6 @@ public:
AP_Int8 opposite_motor[AP_MOTORS_MAX_NUM_MOTORS]; // motor number of the opposite motor
AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
// used for instant_pwm only
bool instant_pwm_force01;
bool instant_pwm_force23;
bool instant_pwm_force67;
protected:
// output - sends commands to the motors
virtual void output_armed();

18
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -17,16 +17,14 @@ void AP_MotorsTri::Init()
set_update_rate(_speed_hz);
}
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// set update rate to motors - a value in hertz
void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
// set update rate for the 3 motors (but not the servo on channel 7)
if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
_rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
}
_rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
}
// enable - starts allowing signals to be sent to motors
@ -52,12 +50,6 @@ void AP_MotorsTri::output_min()
_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw->radio_trim);
// InstantPWM
if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
_rc->Force_Out0_Out1();
_rc->Force_Out2_Out3();
}
}
// output_armed - sends commands to the motors
@ -135,12 +127,6 @@ void AP_MotorsTri::output_armed()
}else{
_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
}
// InstantPWM
if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
_rc->Force_Out0_Out1();
_rc->Force_Out2_Out3();
}
}
// output_disarmed - sends commands to the motors

2
libraries/AP_Motors/AP_MotorsTri.h
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@ -29,7 +29,7 @@ public:
// init
virtual void Init();
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
// enable - starts allowing signals to be sent to motors