AP_MOTORS_x_FRAME definitions moved to motor_frame_type enum
init function and now accepts frame-class and type to perform initial motor setup
set_frame_class_and_type allows real-time changing of motor setup
initialised_ok flag and accessor records whether setup was successful
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1. 0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
This was only used for supporting APM1. The removal was mostly automatic
with:
sed -i 's/pgm_read_byte(&_motor_to_channel_map\[\([^]]*\)\])/\1/g' libraries/AP_Motors/*.cpp
sed -i 's/_motor_to_channel_map\[\([^]]*\)\]/\1/g' libraries/AP_Motors/*.cpp
And then remove references to MOTOR_TO_CHANNEL_MAP and
_motor_to_channel_map and make sure the variable used in shifts is
unsigned
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
Andrew Tridgell
Randy Mackay
Mathieu OTHACEHE
Leonard Hall
Lucas De Marchi
Gustavo Jose de Sousa
Robert Lefebvre