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AP_HAL_PX4: RCOoutput_Tap: map to [ RPMSTOPPED, RPMMAX ] range

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When it's not armed we get _esc_pwm_min from the AP_Motors library,
which would cause motors to start spinning.  Map it to start from
RPMSTOPPED so it doesn't spin when it's not armed.
This commit is contained in:
Lucas De Marchi 2017-02-10 14:31:14 -08:00 committed by Andrew Tridgell
parent 5e26940070
commit fad583b259
1 changed files with 12 additions and 2 deletions
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14
libraries/AP_HAL_PX4/RCOutput_Tap.cpp
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@ -519,6 +519,7 @@ void RCOutput_Tap::push()
// map from the RPM range to 0 - 100% duty cycle for the ESCs // map from the RPM range to 0 - 100% duty cycle for the ESCs
for (uint8_t i = 0; i < motor_cnt; i++) { for (uint8_t i = 0; i < motor_cnt; i++) {
uint16_t *val = &out[motor_mapping[i]]; uint16_t *val = &out[motor_mapping[i]];
if (!(_enabled_channels & (1U << i))) { if (!(_enabled_channels & (1U << i))) {
*val = RPMSTOPPED; *val = RPMSTOPPED;
} else if (_period[i] < _esc_pwm_min) { } else if (_period[i] < _esc_pwm_min) {
@ -526,8 +527,17 @@ void RCOutput_Tap::push()
} else if (_period[i] >= _esc_pwm_max) { } else if (_period[i] >= _esc_pwm_max) {
*val = RPMMAX; *val = RPMMAX;
} else { } else {
uint32_t pdiff = (_period[i] - _esc_pwm_min) * (RPMMAX - RPMMIN); float period_us = constrain_int16(_period[i], _esc_pwm_min, _esc_pwm_max);
*val = (pdiff / (_esc_pwm_max - _esc_pwm_min)) + RPMMIN;
/*
* Map to [ RPMSTOPPED, RPMMAX ] range rather than
* [ RPMMIN, RPMMAX ] because AP_Motors will send us _esc_pwm_min
* when it's disarmed
*/
float rpm = (period_us - _esc_pwm_min)/(_esc_pwm_max - _esc_pwm_min)
* (RPMMAX - RPMSTOPPED) + RPMSTOPPED;
*val = (uint16_t) rpm;
} }
} }
for (uint8_t i = motor_cnt; i < TAP_ESC_MAX_MOTOR_NUM; i++) { for (uint8_t i = motor_cnt; i < TAP_ESC_MAX_MOTOR_NUM; i++) {