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AP_MotorsMatrix: remove output_armed_not_stabilizing

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Leonard Hall 2015-12-03 15:50:29 +09:00 committed by Randy Mackay
parent d0c6d087a5
commit b965857229
2 changed files with 0 additions and 54 deletions
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53
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -111,59 +111,6 @@ uint16_t AP_MotorsMatrix::get_motor_mask()
return rc_map_mask(mask);
}
void AP_MotorsMatrix::output_armed_not_stabilizing()
{
uint8_t i;
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final outputs sent to the motors
int16_t out_min_pwm = _throttle_radio_min + _min_throttle; // minimum pwm value we can send to the motors
int16_t out_max_pwm = _throttle_radio_max; // maximum pwm value we can send to the motors
// initialize limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = false;
limit.throttle_upper = false;
int16_t thr_in_min = rel_pwm_to_thr_range(_spin_when_armed_ramped);
if (_throttle_control_input <= thr_in_min) {
_throttle_control_input = thr_in_min;
limit.throttle_lower = true;
}
if (_throttle_control_input >= _hover_out) {
_throttle_control_input = _hover_out;
limit.throttle_upper = true;
}
throttle_radio_output = calc_throttle_radio_output();
// set output throttle
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
motor_out[i] = throttle_radio_output;
}
}
if(throttle_radio_output >= out_min_pwm) {
// apply thrust curve and voltage scaling
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
motor_out[i] = apply_thrust_curve_and_volt_scaling(motor_out[i], out_min_pwm, out_max_pwm);
}
}
}
// send output to each motor
hal.rcout->cork();
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
rc_write(i, motor_out[i]);
}
}
hal.rcout->push();
}
// output_armed - sends commands to the motors
// includes new scaling stability patch
void AP_MotorsMatrix::output_armed_stabilizing()

1
libraries/AP_Motors/AP_MotorsMatrix.h
View File

@ -66,7 +66,6 @@ public:
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
void output_armed_not_stabilizing();
void output_disarmed();
// add_motor using raw roll, pitch, throttle and yaw factors