C++ (Cpp) output_armed_stabilizing Beispiele

Beispiel #1

Datei: AP_Motors_Class.cpp Projekt: 1ee7/ardupilot-solo

// output - sends commands to the motors
void AP_Motors::output()
{
    // update throttle filter
    update_throttle_filter();

    // update max throttle
    update_max_throttle();

    // update _recovery_pct
    update_recovery_pct();

    // update battery resistance
    update_battery_resistance();

    // calc filtered battery voltage and lift_max
    update_lift_max_from_batt_voltage();

    // move throttle_low_comp towards desired throttle low comp
    update_throttle_thr_mix();

    if (_flags.armed) {
        if (_flags.stabilizing) {
            output_armed_stabilizing();
        } else {
            output_armed_not_stabilizing();
        }
    } else {
        output_disarmed();
    }
};

Beispiel #2

Datei: AP_MotorsMulticopter.cpp Projekt: Enigma-SZ/ardupilot

// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
    // update throttle filter
    update_throttle_filter();

    // update max throttle
    update_max_throttle();

    // update battery resistance
    update_battery_resistance();

    // calc filtered battery voltage and lift_max
    update_lift_max_from_batt_voltage();

    // move throttle_low_comp towards desired throttle low comp
    update_throttle_thr_mix();

    if (_flags.armed) {
        if (!_flags.interlock) {
            output_armed_zero_throttle();
        } else if (_flags.stabilizing) {
            output_armed_stabilizing();
        } else {
            output_armed_not_stabilizing();
        }
    } else {
        _multicopter_flags.slow_start_low_end = true;
        output_disarmed();
    }
};

Beispiel #3

Datei: AP_MotorsHeli.cpp Projekt: 2013-8-15/ardupilot

// output - sends commands to the servos
void AP_MotorsHeli::output()
{
    // update throttle filter
    update_throttle_filter();

    if (_flags.armed) {
        calculate_armed_scalars();
        if (!_flags.interlock) {
            output_armed_zero_throttle();
        } else {
            output_armed_stabilizing();
        }
    } else {
        output_disarmed();
    }
};

Beispiel #4

Datei: AP_MotorsMulticopter.cpp Projekt: 9DSmart/ardupilot

// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
    // update throttle filter
    update_throttle_filter();

    // update battery resistance
    update_battery_resistance();

    // calc filtered battery voltage and lift_max
    update_lift_max_from_batt_voltage();

    // run spool logic
    output_logic();

    // calculate thrust
    output_armed_stabilizing();

    // convert rpy_thrust values to pwm
    output_to_motors();
};

Beispiel #5

Datei: AP_MotorsMulticopter.cpp Projekt: viniciusvidal2/Ardupilot_GRIn

// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
    // update throttle filter
    update_throttle_filter();

    // calc filtered battery voltage and lift_max
    update_lift_max_from_batt_voltage();

    // run spool logic
    output_logic();

    // calculate thrust
    output_armed_stabilizing();

    // apply any thrust compensation for the frame
    thrust_compensation();
    
    // convert rpy_thrust values to pwm
    output_to_motors();

    // output any booster throttle
    output_boost_throttle();
};

Beispiel #6

Datei: AP_MotorsHeli.cpp Projekt: EI2012zyq/ardupilot-raspilot

// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
    // stabilizing servos always operate for helicopters
    output_armed_stabilizing();
}

Beispiel #7

Datei: AP_MotorsHeli.cpp Projekt: EI2012zyq/ardupilot-raspilot

// output_armed_zero_throttle - sends commands to the motors
void AP_MotorsHeli::output_armed_zero_throttle()
{
    // stabilizing servos always operate for helicopters
    // ToDo: Bring RSC Master On/Off into this function
    output_armed_stabilizing();
}

Beispiel #8

Datei: AP_MotorsHeli.cpp Projekt: 3drobotics/ardupilot-solo

// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
    // for helis - armed or disarmed we allow servos to move
    output_armed_stabilizing();
}

Beispiel #9

Datei: AP_MotorsHeli.cpp Projekt: 3drobotics/ardupilot-solo

void AP_MotorsHeli::output_armed_not_stabilizing()
{
    // call output_armed_stabilizing
    output_armed_stabilizing();
}