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

APMrover2: use enum-class for SRV_CHANNEL_LIMIT_TRIM and friends

Browse Source
This commit is contained in:
Peter Barker 2019-11-25 12:52:19 +11:00 committed by Andrew Tridgell
parent ee06faed88
commit b5539701e8
1 changed files with 17 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
APMrover2/AP_MotorsUGV.cpp
View File

@ -134,20 +134,20 @@ void AP_MotorsUGV::setup_safety_output()
if (_disarm_disable_pwm) {
// throttle channels output zero pwm (i.e. no signal)
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
} else {
// throttle channels output trim values (because rovers will go backwards if set to MIN)
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
}
// stop sending pwm if main CPU fails
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
}
// setup servo output ranges
@ -604,9 +604,9 @@ void AP_MotorsUGV::output_regular(bool armed, float ground_speed, float steering
} else {
// handle disarmed case
if (_disarm_disable_pwm) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
} else {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
}
}
@ -637,11 +637,11 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
// handle simpler disarmed case
if (!armed) {
if (_disarm_disable_pwm) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
} else {
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
}
return;
}
@ -709,11 +709,11 @@ void AP_MotorsUGV::output_omni(bool armed, float steering, float throttle, float
// handle disarmed case
if (_disarm_disable_pwm) {
for (uint8_t i=0; i<_motors_num; i++) {
SRV_Channels::set_output_limit(SRV_Channels::get_motor_function(i), SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channels::get_motor_function(i), SRV_Channel::Limit::ZERO_PWM);
}
} else {
for (uint8_t i=0; i<_motors_num; i++) {
SRV_Channels::set_output_limit(SRV_Channels::get_motor_function(i), SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channels::get_motor_function(i), SRV_Channel::Limit::TRIM);
}
}
}