ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library

ArduCopter/ArduCopter.pde

@@ -433,23 +433,11 @@ static byte oldSwitchPosition;
 #endif
 
 #if FRAME_CONFIG ==     HELI_FRAME  // helicopter constructor requires more arguments
- #if INSTANT_PWM == 1
-MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4, AP_MOTORS_SPEED_INSTANT_PWM);                   // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
- #else
 MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
- #endif
 #elif FRAME_CONFIG == TRI_FRAME  // tri constructor requires additional rc_7 argument to allow tail servo reversing
- #if INSTANT_PWM == 1
-MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7, AP_MOTORS_SPEED_INSTANT_PWM);                   // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
- #else
 MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
- #endif
 #else
- #if INSTANT_PWM == 1
-MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, AP_MOTORS_SPEED_INSTANT_PWM);                   // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
- #else
 MOTOR_CLASS     motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
- #endif
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////

ArduCopter/config.h

@@ -123,12 +123,7 @@
 
 //////////////////////////////////////////////////////////////////////////////
 // PWM control
-//
-#ifndef INSTANT_PWM
- # define INSTANT_PWM    DISABLED
-#endif
-
-// default RC speed in Hz if INSTANT_PWM is not used
+// default RC speed in Hz
 #ifndef RC_FAST_SPEED
  # if FRAME_CONFIG == HELI_FRAME
   #   define RC_FAST_SPEED 125

ArduCopter/radio.pde

@@ -64,12 +64,7 @@ static void init_rc_out()
 {
     APM_RC.Init( &isr_registry );               // APM Radio initialization
 
-#if INSTANT_PWM == 1
-    motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
-#else
     motors.set_update_rate(g.rc_speed);
-#endif
-
     motors.set_frame_orientation(g.frame_orientation);
     motors.Init();                                              // motor initialisation
     motors.set_min_throttle(g.throttle_min);

libraries/AP_Motors/AP_Motors.h

@@ -39,9 +39,8 @@
 #define AP_MOTORS_X_FRAME 1
 #define AP_MOTORS_V_FRAME 2
 
-// motor update rates
+// motor update rate
 #define AP_MOTORS_SPEED_DEFAULT 490
-#define AP_MOTORS_SPEED_INSTANT_PWM 0
 
 // top-bottom ratio (for Y6)
 #define AP_MOTORS_TOP_BOTTOM_RATIO      1.0
@@ -69,7 +68,7 @@ public:
         _motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
     }
 
-    // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
+    // set update rate to motors - a value in hertz
     virtual void        set_update_rate( uint16_t speed_hz ) {
         _speed_hz = speed_hz;
     };

libraries/AP_Motors/AP_MotorsHeli.cpp

@@ -170,16 +170,14 @@ void AP_MotorsHeli::Init()
     set_update_rate(_speed_hz);
 }
 
-// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
+// set update rate to motors - a value in hertz
 void AP_MotorsHeli::set_update_rate( uint16_t speed_hz )
 {
     // record requested speed
     _speed_hz = speed_hz;
 
     // setup fast channels
-    if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
-        _rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_3]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
-    }
+    _rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_3]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
 }
 
 // enable - starts allowing signals to be sent to motors
@@ -498,12 +496,6 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
     if( ext_gyro_enabled ) {
         _rc->OutputCh(AP_MOTORS_HELI_EXT_GYRO, ext_gyro_gain);
     }
-
-    // InstantPWM
-    if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
-        _rc->Force_Out0_Out1();
-        _rc->Force_Out2_Out3();
-    }
 }
 
 void AP_MotorsHeli::rsc_control()

libraries/AP_Motors/AP_MotorsHeli.h

@@ -106,7 +106,7 @@ public:
     // init
     void Init();
 
-    // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
+    // set update rate to motors - a value in hertz
     // you must have setup_motors before calling this
     void set_update_rate( uint16_t speed_hz );
 

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -28,7 +28,7 @@ void AP_MotorsMatrix::Init()
     set_update_rate(_speed_hz);
 }
 
-// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
+// set update rate to motors - a value in hertz
 void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
 {
     uint32_t fast_channel_mask = 0;
@@ -37,31 +37,16 @@ void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
     // record requested speed
     _speed_hz = speed_hz;
 
-    // initialise instant_pwm booleans.  they will be set again below
-    instant_pwm_force01 = false;
-    instant_pwm_force23 = false;
-    instant_pwm_force67 = false;
-
     // check each enabled motor
     for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
         if( motor_enabled[i] ) {
             // set-up fast channel mask
             fast_channel_mask |= _BV(_motor_to_channel_map[i]);                 // add to fast channel map
-
-            // and instant pwm
-            if( _motor_to_channel_map[i] == 0 || _motor_to_channel_map[i] == 1 )
-                instant_pwm_force01 = true;
-            if( _motor_to_channel_map[i] == 2 || _motor_to_channel_map[i] == 3 )
-                instant_pwm_force23 = true;
-            if( _motor_to_channel_map[i] == 6 || _motor_to_channel_map[i] == 7 )
-                instant_pwm_force67 = true;
         }
     }
 
     // enable fast channels
-    if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
-        _rc->SetFastOutputChannels(fast_channel_mask, _speed_hz);
-    }
+    _rc->SetFastOutputChannels(fast_channel_mask, _speed_hz);
 }
 
 // set frame orientation (normally + or X)
@@ -107,16 +92,6 @@ void AP_MotorsMatrix::output_min()
             _rc->OutputCh(_motor_to_channel_map[i], motor_out[i]);
         }
     }
-
-    // Force output if instant pwm
-    if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
-        if( instant_pwm_force01 )
-            _rc->Force_Out0_Out1();
-        if( instant_pwm_force23 )
-            _rc->Force_Out2_Out3();
-        if( instant_pwm_force67 )
-            _rc->Force_Out6_Out7();
-    }
 }
 
 // output_armed - sends commands to the motors
@@ -189,16 +164,6 @@ void AP_MotorsMatrix::output_armed()
             _rc->OutputCh(_motor_to_channel_map[i], motor_out[i]);
         }
     }
-
-    // InstantPWM
-    if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
-        if( instant_pwm_force01 )
-            _rc->Force_Out0_Out1();
-        if( instant_pwm_force23 )
-            _rc->Force_Out2_Out3();
-        if( instant_pwm_force67 )
-            _rc->Force_Out6_Out7();
-    }
 }
 
 // output_disarmed - sends commands to the motors

libraries/AP_Motors/AP_MotorsMatrix.h

@@ -26,16 +26,13 @@ public:
     /// Constructor
     AP_MotorsMatrix( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
         AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
-        instant_pwm_force01(false),
-        instant_pwm_force23(false),
-        instant_pwm_force67(false),
         _num_motors(0) {
     };
 
     // init
     virtual void        Init();
 
-    // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
+    // set update rate to motors - a value in hertz
     // you must have setup_motors before calling this
     virtual void            set_update_rate( uint16_t speed_hz );
 
@@ -74,11 +71,6 @@ public:
     AP_Int8         opposite_motor[AP_MOTORS_MAX_NUM_MOTORS];           // motor number of the opposite motor
     AP_Int8         test_order[AP_MOTORS_MAX_NUM_MOTORS];               // order of the motors in the test sequence
 
-    // used for instant_pwm only
-    bool            instant_pwm_force01;
-    bool            instant_pwm_force23;
-    bool            instant_pwm_force67;
-
 protected:
     // output - sends commands to the motors
     virtual void        output_armed();

libraries/AP_Motors/AP_MotorsTri.cpp

@@ -17,16 +17,14 @@ void AP_MotorsTri::Init()
     set_update_rate(_speed_hz);
 }
 
-// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
+// set update rate to motors - a value in hertz
 void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
 {
     // record requested speed
     _speed_hz = speed_hz;
 
     // set update rate for the 3 motors (but not the servo on channel 7)
-    if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
-        _rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
-    }
+    _rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz);
 }
 
 // enable - starts allowing signals to be sent to motors
@@ -52,12 +50,6 @@ void AP_MotorsTri::output_min()
     _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
     _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
     _rc->OutputCh(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw->radio_trim);
-
-    // InstantPWM
-    if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
-        _rc->Force_Out0_Out1();
-        _rc->Force_Out2_Out3();
-    }
 }
 
 // output_armed - sends commands to the motors
@@ -135,12 +127,6 @@ void AP_MotorsTri::output_armed()
     }else{
         _rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
     }
-
-    // InstantPWM
-    if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
-        _rc->Force_Out0_Out1();
-        _rc->Force_Out2_Out3();
-    }
 }
 
 // output_disarmed - sends commands to the motors

libraries/AP_Motors/AP_MotorsTri.h

@@ -29,7 +29,7 @@ public:
     // init
     virtual void            Init();
 
-    // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
+    // set update rate to motors - a value in hertz
     void                    set_update_rate( uint16_t speed_hz );
 
     // enable - starts allowing signals to be sent to motors