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AP_MotorsHeli: swash and tail servo objects moved into class

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This commit is contained in:
Randy Mackay 2016-02-08 20:11:55 +09:00
parent 08a485eec4
commit c4b88aafef
2 changed files with 25 additions and 16 deletions
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20
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -115,7 +115,25 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @Increment: 1
// @User: Standard
AP_GROUPINFO("GYR_GAIN_ACRO", 11, AP_MotorsHeli_Single, _ext_gyro_gain_acro, 0),
// @Group: SV1_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_1, "SV1_", 12, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV2_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_2, "SV2_", 13, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV3_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_swash_servo_3, "SV3_", 14, AP_MotorsHeli_Single, RC_Channel),
// @Group: SV4_
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_yaw_servo, "SV4_", 15, AP_MotorsHeli_Single, RC_Channel),
// parameters up to and including 29 are reserved for tradheli
AP_GROUPEND
};

21
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -45,21 +45,13 @@ class AP_MotorsHeli_Single : public AP_MotorsHeli {
public:
// constructor
AP_MotorsHeli_Single(RC_Channel& servo_aux,
RC_Channel& servo_rsc,
RC_Channel& servo_1,
RC_Channel& servo_2,
RC_Channel& servo_3,
RC_Channel& servo_4,
uint16_t loop_rate,
uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
AP_MotorsHeli(loop_rate, speed_hz),
_servo_aux(servo_aux),
_swash_servo_1(servo_1),
_swash_servo_2(servo_2),
_swash_servo_3(servo_3),
_yaw_servo(servo_4),
_main_rotor(RC_Channel_aux::k_heli_rsc, AP_MOTORS_HELI_SINGLE_RSC, loop_rate),
_tail_rotor(RC_Channel_aux::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_AUX, loop_rate)
_tail_rotor(RC_Channel_aux::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_AUX, loop_rate),
_swash_servo_1(CH_1), _swash_servo_2(CH_2), _swash_servo_3(CH_3), _yaw_servo(CH_4)
{
AP_Param::setup_object_defaults(this, var_info);
};
@ -140,11 +132,6 @@ protected:
// external objects we depend upon
RC_Channel& _servo_aux; // output to ext gyro gain and tail direct drive esc (ch7)
RC_Channel& _swash_servo_1; // swash plate servo #1
RC_Channel& _swash_servo_2; // swash plate servo #2
RC_Channel& _swash_servo_3; // swash plate servo #3
RC_Channel& _yaw_servo; // tail servo
AP_MotorsHeli_RSC _main_rotor; // main rotor
AP_MotorsHeli_RSC _tail_rotor; // tail rotor
@ -168,6 +155,10 @@ protected:
AP_Float _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
RC_Channel _swash_servo_1; // swash plate servo #1
RC_Channel _swash_servo_2; // swash plate servo #2
RC_Channel _swash_servo_3; // swash plate servo #3
RC_Channel _yaw_servo; // tail servo
bool _acro_tail = false;
};