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TriCopter: use refs for all RC_Channels

master
Randy Mackay 11 years ago committed by Andrew Tridgell
parent
01d30271d8
commit
415e48de19
2 changed files with 32 additions and 32 deletions
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  1. 60
      libraries/AP_Motors/AP_MotorsTri.cpp
  2. 4
      libraries/AP_Motors/AP_MotorsTri.h

60
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -74,33 +74,33 @@ void AP_MotorsTri::output_min() @@ -74,33 +74,33 @@ void AP_MotorsTri::output_min()
limit.throttle_lower = true;
// send minimum value to each motor
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw->radio_trim);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle.radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle.radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle.radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw.radio_trim);
}
// output_armed - sends commands to the motors
void AP_MotorsTri::output_armed()
{
int16_t out_min = _rc_throttle->radio_min + _min_throttle;
int16_t out_max = _rc_throttle->radio_max;
int16_t out_min = _rc_throttle.radio_min + _min_throttle;
int16_t out_max = _rc_throttle.radio_max;
int16_t motor_out[AP_MOTORS_MOT_4+1];
// initialize lower limit flag
limit.throttle_lower = false;
// Throttle is 0 to 1000 only
_rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle);
_rc_throttle.servo_out = constrain_int16(_rc_throttle.servo_out, 0, _max_throttle);
// capture desired roll, pitch, yaw and throttle from receiver
_rc_roll->calc_pwm();
_rc_pitch->calc_pwm();
_rc_throttle->calc_pwm();
_rc_yaw->calc_pwm();
_rc_roll.calc_pwm();
_rc_pitch.calc_pwm();
_rc_throttle.calc_pwm();
_rc_yaw.calc_pwm();
// if we are not sending a throttle output, we cut the motors
if(_rc_throttle->servo_out == 0) {
if(_rc_throttle.servo_out == 0) {
// range check spin_when_armed
if (_spin_when_armed_ramped < 0) {
_spin_when_armed_ramped = 0;
@ -108,27 +108,27 @@ void AP_MotorsTri::output_armed() @@ -108,27 +108,27 @@ void AP_MotorsTri::output_armed()
if (_spin_when_armed_ramped > _min_throttle) {
_spin_when_armed_ramped = _min_throttle;
}
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min + _spin_when_armed_ramped;
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min + _spin_when_armed_ramped;
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min + _spin_when_armed_ramped;
motor_out[AP_MOTORS_MOT_1] = _rc_throttle.radio_min + _spin_when_armed_ramped;
motor_out[AP_MOTORS_MOT_2] = _rc_throttle.radio_min + _spin_when_armed_ramped;
motor_out[AP_MOTORS_MOT_4] = _rc_throttle.radio_min + _spin_when_armed_ramped;
// Every thing is limited
limit.throttle_lower = true;
}else{
int16_t roll_out = (float)_rc_roll->pwm_out * 0.866f;
int16_t pitch_out = _rc_pitch->pwm_out / 2;
int16_t roll_out = (float)_rc_roll.pwm_out * 0.866f;
int16_t pitch_out = _rc_pitch.pwm_out / 2;
// check if throttle is below limit
if (_rc_throttle->radio_out <= out_min) {
if (_rc_throttle.radio_out <= out_min) {
limit.throttle_lower = true;
}
//left front
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out;
motor_out[AP_MOTORS_MOT_2] = _rc_throttle.radio_out + roll_out + pitch_out;
//right front
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_out - roll_out + pitch_out;
motor_out[AP_MOTORS_MOT_1] = _rc_throttle.radio_out - roll_out + pitch_out;
// rear
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_out - _rc_pitch->pwm_out;
motor_out[AP_MOTORS_MOT_4] = _rc_throttle.radio_out - _rc_pitch.pwm_out;
// Tridge's stability patch
if(motor_out[AP_MOTORS_MOT_1] > out_max) {
@ -171,10 +171,10 @@ void AP_MotorsTri::output_armed() @@ -171,10 +171,10 @@ void AP_MotorsTri::output_armed()
// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
// note: we use _rc_tail's (aka channel 7's) REV parameter to control whether the servo is reversed or not but this is a bit nonsensical.
// a separate servo object (including min, max settings etc) would be better or at least a separate parameter to specify the direction of the tail servo
if( _rc_tail->get_reverse() == true ) {
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim));
if( _rc_tail.get_reverse() == true ) {
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _rc_yaw.radio_trim - (_rc_yaw.radio_out - _rc_yaw.radio_trim));
}else{
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _rc_yaw.radio_out);
}
}
@ -191,19 +191,19 @@ void AP_MotorsTri::output_test() @@ -191,19 +191,19 @@ void AP_MotorsTri::output_test()
// Send minimum values to all motors
output_min();
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle.radio_min);
hal.scheduler->delay(4000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min + _min_throttle);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle.radio_min);
hal.scheduler->delay(2000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min + _min_throttle);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle.radio_min);
hal.scheduler->delay(2000);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min + _min_throttle);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
// Send minimum values to all motors

4
libraries/AP_Motors/AP_MotorsTri.h
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@ -19,7 +19,7 @@ class AP_MotorsTri : public AP_Motors { @@ -19,7 +19,7 @@ class AP_MotorsTri : public AP_Motors {
public:
/// Constructor
AP_MotorsTri( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, RC_Channel* rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsTri( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
_rc_tail(rc_tail) {
};
@ -44,7 +44,7 @@ protected: @@ -44,7 +44,7 @@ protected:
virtual void output_armed();
virtual void output_disarmed();
RC_Channel* _rc_tail; // REV parameter used from this channel to determine direction of tail servo movement
RC_Channel& _rc_tail; // REV parameter used from this channel to determine direction of tail servo movement
};
#endif // AP_MOTORSTRI

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