C++ (Cpp) output_min Beispiele

Beispiel #1

Datei: AP_MotorsHeli.cpp Projekt: ChristopherBonner/ardupilot

// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_test()
{
    int16_t i;
    // Send minimum values to all motors
    output_min();

    // servo 1 & 3
    for( i=0; i<5; i++ ) {
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim + 100);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_1->radio_trim - 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim - 100);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_1->radio_trim + 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim + 0);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_1->radio_trim - 0);
        hal.scheduler->delay(300);
    }

    // servo 2 & 6
    for( i=0; i<5; i++ ) {
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim + 100);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_6], _servo_1->radio_trim - 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim - 100);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_6], _servo_1->radio_trim + 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim + 0);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_6], _servo_1->radio_trim - 0);
        hal.scheduler->delay(300);
    }

    // servo 3
//    for( i=0; i<5; i++ ) {
//        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim + 100);
//        hal.scheduler->delay(300);
//        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim - 100);
//        hal.scheduler->delay(300);
//        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim + 0);
 //       hal.scheduler->delay(300);
 //   }

    // external gyro
    if( ext_gyro_enabled ) {
        hal.rcout->write(AP_MOTORS_HELI_EXT_GYRO, ext_gyro_gain);
    }

    // servo 4
    for( i=0; i<5; i++ ) {
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim + 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim - 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim + 0);
        hal.scheduler->delay(300);
    }

    // Send minimum values to all motors
    output_min();
}

Beispiel #2

Datei: AP_MotorsHeli.cpp Projekt: CyberUD/ardupilot-mpng

// output_test - wiggle servos in order to show connections are correct
void AP_MotorsHeli::output_test()
{
    int16_t i;
    // Send minimum values to all motors
    output_min();

    // servo 1
    for( i=0; i<5; i++ ) {
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim + 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim - 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim + 0);
        hal.scheduler->delay(300);
    }

    // servo 2
    for( i=0; i<5; i++ ) {
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim + 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim - 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim + 0);
        hal.scheduler->delay(300);
    }

    // servo 3
    for( i=0; i<5; i++ ) {
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim + 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim - 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim + 0);
        hal.scheduler->delay(300);
    }

    // external gyro
    if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
        write_aux(_ext_gyro_gain);
    }

    // servo 4
    for( i=0; i<5; i++ ) {
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim + 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim - 100);
        hal.scheduler->delay(300);
        hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim + 0);
        hal.scheduler->delay(300);
    }

    // Send minimum values to all motors
    output_min();
}

Beispiel #3

Datei: AP_MotorsSingle.cpp Projekt: 30rasheed/x-VTOLdrone

// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
void AP_MotorsSingle::output_test()
{
    // Send minimum values to all motors
    output_min();

    // spin main motor
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min + _min_throttle);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min);
    hal.scheduler->delay(2000);   

    // flap servo 1
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_min);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_max);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_trim);
    hal.scheduler->delay(2000);

    // flap servo 2
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_min);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_max);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_trim);
    hal.scheduler->delay(2000);

    // flap servo 3
	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_min);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_max);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_trim);
    hal.scheduler->delay(2000);

    // flap servo 4
	hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_min);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_max);
    hal.scheduler->delay(1000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_trim);

    // Send minimum values to all motors
    output_min();
}

Beispiel #4

Datei: AP_MotorsTri.cpp Projekt: LeoTosti/x-drone

// output_disarmed - sends commands to the motors
void AP_MotorsTri::output_disarmed()
{
    // fill the motor_out[] array for HIL use
    for (unsigned char i = AP_MOTORS_MOT_1; i < AP_MOTORS_MOT_4; i++) {
        motor_out[i] = _rc_throttle->radio_min;
    }

    // Send minimum values to all motors
    output_min();
}

Beispiel #5

Datei: AP_MotorsMatrix.cpp Projekt: 363546178/ardupilot-mega

// output_disarmed - sends commands to the motors
void AP_MotorsMatrix::output_disarmed()
{
    if(_rc_throttle->control_in > 0) {
        // we have pushed up the throttle
        // remove safety for auto pilot
        _auto_armed = true;
    }

    // Send minimum values to all motors
    output_min();
}

Beispiel #6

Datei: AP_MotorsMatrix.cpp Projekt: kingdwd/ardurevo

// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
void AP_MotorsMatrix::output_test()
{
    uint8_t min_order, max_order;
    uint8_t i,j;

    // find min and max orders
    min_order = _test_order[0];
    max_order = _test_order[0];
    for(i=1; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
        if( _test_order[i] < min_order )
            min_order = _test_order[i];
        if( _test_order[i] > max_order )
            max_order = _test_order[i];
    }

    // shut down all motors
    output_min();

    // first delay is longer
    hal.scheduler->delay(4000);

    // loop through all the possible orders spinning any motors that match that description
    for( i=min_order; i<=max_order; i++ ) {
        for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) {
            if( motor_enabled[j] && _test_order[j] == i ) {
                // turn on this motor and wait 1/3rd of a second
                hal.rcout->write(_motor_to_channel_map[j], _rc_throttle->radio_min + _min_throttle);
                hal.scheduler->delay(300);
                hal.rcout->write(_motor_to_channel_map[j], _rc_throttle->radio_min);
                hal.scheduler->delay(2000);
            }
        }
    }

    // shut down all motors
    output_min();
}

Beispiel #7

Datei: AP_MotorsCoax.cpp Projekt: emilecastelnuovo/ardupilot

// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
void AP_MotorsCoax::output_test()
{
    // Send minimum values to all motors
    output_min();

    // spin motor 1
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _rc_throttle.radio_min + _min_throttle);
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _rc_throttle.radio_min);
    hal.scheduler->delay(2000);

    // spin motor 2
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min + _min_throttle);
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min);
    hal.scheduler->delay(2000);

    // flap servo 1
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_min);
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_max);
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim);
    hal.scheduler->delay(2000);

    // flap servo 2
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_min);
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_max);
    hal.scheduler->delay(1000);
    hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim);

    // Send minimum values to all motors
    output_min();
}

Beispiel #8

Datei: AP_MotorsTri.cpp Projekt: LeoTosti/x-drone

// output_disarmed - sends commands to the motors
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.scheduler->delay(4000);
    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.scheduler->delay(2000);
    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.scheduler->delay(2000);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min + _min_throttle);
    hal.scheduler->delay(300);

    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
    hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
}

Beispiel #9

Datei: AP_MotorsMatrix.cpp Projekt: kingdwd/ardurevo

// output_disarmed - sends commands to the motors
void AP_MotorsMatrix::output_disarmed()
{
    // Send minimum values to all motors
    output_min();
}