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Plane: separate out the output channel mixing

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this provides a framework for other output mixing types
This commit is contained in:
Andrew Tridgell 2016-10-11 15:23:14 +11:00
parent eb67c97bb2
commit c7f738c284
2 changed files with 31 additions and 12 deletions
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1
ArduPlane/Plane.h
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@ -1043,6 +1043,7 @@ private:
void set_servos_controlled(void);
void set_servos_old_elevons(void);
void set_servos_flaps(void);
void servos_output(void);
void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
bool allow_reverse_thrust(void);
void update_aux();

42
ArduPlane/servos.cpp
View File

@ -299,10 +299,6 @@ void Plane::set_servos_idle(void)
channel_roll->calc_pwm();
channel_pitch->calc_pwm();
channel_rudder->calc_pwm();
channel_roll->output();
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();
channel_throttle->output_trim();
}
@ -492,7 +488,7 @@ void Plane::set_servos_controlled(void)
if (!hal.util->get_soft_armed()) {
channel_throttle->set_servo_out(0);
channel_throttle->calc_pwm();
channel_throttle->calc_pwm();
} else if (suppress_throttle()) {
// throttle is suppressed in auto mode
channel_throttle->set_servo_out(0);
@ -500,7 +496,7 @@ void Plane::set_servos_controlled(void)
// manual pass through of throttle while throttle is suppressed
channel_throttle->set_radio_out(channel_throttle->get_radio_in());
} else {
channel_throttle->calc_pwm();
channel_throttle->calc_pwm();
}
} else if (g.throttle_passthru_stabilize &&
(control_mode == STABILIZE ||
@ -606,9 +602,18 @@ void Plane::set_servos_flaps(void)
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
/*
Set the flight control servos based on the current calculated values
This function operates by first building up output values for
channels using set_servo() and set_radio_out(). Using
set_radio_out() is for when a raw PWM value of output is given which
does not depend on any output scaling. Using set_servo() is for when
scaling and mixing will be needed.
Finally servos_output() is called to push the final PWM values
for output channels
*/
void Plane::set_servos(void)
{
// this is to allow the failsafe module to deliberately crash
@ -627,6 +632,7 @@ void Plane::set_servos(void)
if (control_mode == AUTO && auto_state.idle_mode) {
// special handling for balloon launch
set_servos_idle();
servos_output();
return;
}
@ -746,6 +752,7 @@ void Plane::set_servos(void)
send_servo_out(MAVLINK_COMM_0);
}
if (!g.hil_servos) {
// we don't run the output mixer
return;
}
}
@ -779,14 +786,25 @@ void Plane::set_servos(void)
// allow for secondary throttle
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_throttle, channel_throttle->get_servo_out());
// send values to the PWM timers for output
// ----------------------------------------
// run output mixer and send values to the hal for output
servos_output();
}
/*
run configured output mixer. This takes calculated servo_out values
for each channel and calculates PWM values, then pushes them to
hal.rcout
*/
void Plane::servos_output(void)
{
if (g.rudder_only == 0) {
// when we RUDDER_ONLY mode we don't send the channel_roll
// when in RUDDER_ONLY mode we don't send the channel_roll
// output and instead rely on KFF_RDDRMIX. That allows the yaw
// damper to operate.
channel_roll->output();
}
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();