From 1f37f5a0e7215abc53f4f3b3dc868d66e190a3a4 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 8 Feb 2016 20:15:48 +0900 Subject: [PATCH] Copter: remove tradheli swash, yaw and rsc servos These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused --- ArduCopter/Copter.cpp | 2 +- ArduCopter/Parameters.cpp | 18 ------------------ ArduCopter/Parameters.h | 24 +++++------------------- 3 files changed, 6 insertions(+), 38 deletions(-) diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp index cbdea5824b..0defe54f45 100644 --- a/ArduCopter/Copter.cpp +++ b/ArduCopter/Copter.cpp @@ -30,7 +30,7 @@ Copter::Copter(void) : FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)), control_mode(STABILIZE), #if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments - motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE), + motors(g.rc_7, MAIN_LOOP_RATE), #else motors(MAIN_LOOP_RATE), #endif diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 5675926c5b..0357666ef0 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -532,24 +532,6 @@ const AP_Param::Info Copter::var_info[] = { // @Values: 0:Disabled, 1:Enabled // @User: Advanced GSCALAR(fs_crash_check, "FS_CRASH_CHECK", 1), - -#if FRAME_CONFIG == HELI_FRAME - // @Group: HS1_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(heli_servo_1, "HS1_", RC_Channel), - // @Group: HS2_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(heli_servo_2, "HS2_", RC_Channel), - // @Group: HS3_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(heli_servo_3, "HS3_", RC_Channel), - // @Group: HS4_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(heli_servo_4, "HS4_", RC_Channel), - // @Group: H_RSC_ - // @Path: ../libraries/RC_Channel/RC_Channel.cpp - GGROUP(heli_servo_rsc, "H_RSC_", RC_Channel), -#endif // RC channel //----------- diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index cabf04c2ef..f878bd9964 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -161,16 +161,16 @@ public: // // 80: Heli // - k_param_heli_servo_1 = 80, - k_param_heli_servo_2, - k_param_heli_servo_3, - k_param_heli_servo_4, + k_param_heli_servo_1 = 80, // remove + k_param_heli_servo_2, // remove + k_param_heli_servo_3, // remove + k_param_heli_servo_4, // remove k_param_heli_pitch_ff, // remove k_param_heli_roll_ff, // remove k_param_heli_yaw_ff, // remove k_param_heli_stab_col_min, // remove k_param_heli_stab_col_max, // remove - k_param_heli_servo_rsc, // 89 = full! + k_param_heli_servo_rsc, // 89 = full! - remove // // 90: misc2 @@ -453,12 +453,6 @@ public: AP_Int8 throw_motor_start; -#if FRAME_CONFIG == HELI_FRAME - // Heli - RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail - RC_Channel heli_servo_rsc; // servo for rotor speed control output -#endif - // RC channels RC_Channel rc_1; RC_Channel rc_2; @@ -515,14 +509,6 @@ public: // above. Parameters() : -#if FRAME_CONFIG == HELI_FRAME - heli_servo_1 (CH_1), - heli_servo_2 (CH_2), - heli_servo_3 (CH_3), - heli_servo_4 (CH_4), - heli_servo_rsc (CH_8), -#endif - rc_1 (CH_1), rc_2 (CH_2), rc_3 (CH_3),