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

AP_MotorsTri: motor_out array made local

Browse Source
This commit is contained in:
Randy Mackay 2014-02-09 17:48:10 +09:00 committed by Andrew Tridgell
parent 83321b8786
commit a036009524
1 changed files with 1 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -73,11 +73,6 @@ void AP_MotorsTri::output_min()
// set lower limit flag
limit.throttle_lower = true;
// set all motors to minimum
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min;
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min;
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
// send minimum value to each motor
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
@ -90,6 +85,7 @@ void AP_MotorsTri::output_armed()
{
int16_t out_min = _rc_throttle->radio_min + _min_throttle;
int16_t out_max = _rc_throttle->radio_max;
int16_t motor_out[AP_MOTORS_MOT_4+1];
// initialize lower limit flag
limit.throttle_lower = false;
@ -185,11 +181,6 @@ void AP_MotorsTri::output_armed()
// output_disarmed - sends commands to the motors
void AP_MotorsTri::output_disarmed()
{
// fill the motor_out[] array for HIL use
for (unsigned char i = AP_MOTORS_MOT_1; i < AP_MOTORS_MOT_4; i++) {
motor_out[i] = _rc_throttle->radio_min;
}
// Send minimum values to all motors
output_min();
}