C++ (Cpp) move_swash Examples

Example #1

File: AP_MotorsHeli.cpp Project: EI2012zyq/ardupilot-raspilot

// output_min - sets servos to neutral point
void AP_MotorsHeli::output_min()
{
    // move swash to mid
    move_swash(0,0,500,0);

    // override limits flags
    limit.roll_pitch = true;
    limit.yaw = true;
    limit.throttle_lower = true;
    limit.throttle_upper = false;
}

Example #2

File: AP_MotorsHeli.cpp Project: EI2012zyq/ardupilot-raspilot

// sends commands to the motors
void AP_MotorsHeli::output_armed_stabilizing()
{
    // if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
    if (_servo_manual == 1) {
        _roll_control_input = _roll_radio_passthrough;
        _pitch_control_input = _pitch_radio_passthrough;
        _throttle_control_input = _throttle_radio_passthrough;
        _yaw_control_input = _yaw_radio_passthrough;
    }

    move_swash(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);

    // update rotor and direct drive esc speeds
    rsc_control();
}

Example #3

File: AP_MotorsHeli.cpp Project: AhLeeYong/x-drone

// output_armed - sends commands to the motors
void AP_MotorsHeli::output_armed()
{
    // if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
    if( servo_manual == 1 ) {
        _rc_roll->servo_out = _rc_roll->control_in;
        _rc_pitch->servo_out = _rc_pitch->control_in;
        _rc_throttle->servo_out = _rc_throttle->control_in;
        _rc_yaw->servo_out = _rc_yaw->control_in;
    }

    //static int counter = 0;
    _rc_roll->calc_pwm();
    _rc_pitch->calc_pwm();
    _rc_throttle->calc_pwm();
    _rc_yaw->calc_pwm();

    move_swash( _rc_roll->servo_out, _rc_pitch->servo_out, _rc_throttle->servo_out, _rc_yaw->servo_out );

    rsc_control();
}

Example #4

File: AP_MotorsHeli.cpp Project: CyberUD/ardupilot-mpng

// output_armed - sends commands to the motors
void AP_MotorsHeli::output_armed()
{
    // if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
    if (_servo_manual == 1) {
        _rc_roll->servo_out = _rc_roll->control_in;
        _rc_pitch->servo_out = _rc_pitch->control_in;
        _rc_throttle->servo_out = _rc_throttle->control_in;
        _rc_yaw->servo_out = _rc_yaw->control_in;
    }

    _rc_roll->calc_pwm();
    _rc_pitch->calc_pwm();
    _rc_throttle->calc_pwm();
    _rc_yaw->calc_pwm();

    move_swash( _rc_roll->servo_out, _rc_pitch->servo_out, _rc_throttle->servo_out, _rc_yaw->servo_out );

    // update rotor and direct drive esc speeds
    rsc_control();
}

Example #5

File: AP_MotorsHeli.cpp Project: AhLeeYong/x-drone

// output_min - sends minimum values out to the motors
void AP_MotorsHeli::output_min()
{
    // move swash to mid
    move_swash(0,0,500,0);
}