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Plane: tailsitter: only set limit flags if outputs are configured

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This commit is contained in:
Peter Hall 2021-11-14 19:22:55 +00:00 committed by Andrew Tridgell
parent 1fde5b3ef1
commit b64ddb9ac0
2 changed files with 12 additions and 3 deletions
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10
ArduPlane/tailsitter.cpp
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@ -220,6 +220,10 @@ void Tailsitter::setup()
(SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorLeft) ||
SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorRight)));
_have_elevator = SRV_Channels::function_assigned(SRV_Channel::k_elevator);
_have_aileron = SRV_Channels::function_assigned(SRV_Channel::k_aileron);
_have_rudder = SRV_Channels::function_assigned(SRV_Channel::k_rudder);
// set defaults for dual/single motor tailsitter
if (quadplane.frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
AP_Param::set_defaults_from_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter));
@ -425,9 +429,9 @@ void Tailsitter::output(void)
// Check for saturated limits
bool tilt_lim = _is_vectored && ((fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorLeft)) >= SERVO_MAX) || (fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorRight)) >= SERVO_MAX));
bool roll_lim = fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_rudder)) >= SERVO_MAX;
bool pitch_lim = fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_elevator)) >= SERVO_MAX;
bool yaw_lim = fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_aileron)) >= SERVO_MAX;
bool roll_lim = _have_rudder && (fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_rudder)) >= SERVO_MAX);
bool pitch_lim = _have_elevator && (fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_elevator)) >= SERVO_MAX);
bool yaw_lim = _have_aileron && (fabsf(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_aileron)) >= SERVO_MAX);
// Mix elevons and V-tail, always giving full priority to pitch
float elevator_mix = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator) * (100.0 - plane.g.mixing_offset) * 0.01 * plane.g.mixing_gain;

5
ArduPlane/tailsitter.h
View File

@ -117,6 +117,11 @@ private:
// true when flying a tilt-vectored tailsitter
bool _is_vectored;
// true is outputs are configured
bool _have_elevator;
bool _have_aileron;
bool _have_rudder;
// refences for convenience
QuadPlane& quadplane;
AP_MotorsMulticopter*& motors;