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57 lines
1.8 KiB
57 lines
1.8 KiB
/* |
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* AP_Motors.cpp - ArduCopter motors library |
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* Code by RandyMackay. DIYDrones.com |
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* |
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* This library is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public |
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* License as published by the Free Software Foundation; either |
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* version 2.1 of the License, or (at your option) any later version. |
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*/ |
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#include "AP_Motors.h" |
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// parameters for the motor class |
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const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = { |
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AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio, AP_MOTORS_TOP_BOTTOM_RATIO), // not used |
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AP_GROUPEND |
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}; |
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// Constructor |
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AP_Motors::AP_Motors( 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 ) : |
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_rc(rc_out), |
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_rc_roll(rc_roll), |
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_rc_pitch(rc_pitch), |
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_rc_throttle(rc_throttle), |
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_rc_yaw(rc_yaw), |
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_speed_hz(speed_hz), |
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_armed(false), |
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_auto_armed(false), |
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_frame_orientation(0), |
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_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE), |
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_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE) |
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{ |
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uint8_t i; |
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top_bottom_ratio = AP_MOTORS_TOP_BOTTOM_RATIO; |
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// initialise motor map |
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if( APM_version == AP_MOTORS_APM1 ) { |
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set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP); |
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} else { |
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set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP); |
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} |
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// clear output arrays |
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for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) { |
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motor_out[i] = 0; |
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} |
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}; |
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// throttle_pass_through - passes throttle through to motors - dangerous but used for initialising ESCs |
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void AP_Motors::throttle_pass_through() { |
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if( armed() ) { |
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for( int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++ ) { |
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_rc->OutputCh(_motor_to_channel_map[i], _rc_throttle->radio_in); |
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} |
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} |
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}
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