C++ (Cpp) output_regular Examples

Example #1

File: AP_MotorsUGV.cpp Project: Javiercerna/ardupilot

void AP_MotorsUGV::output(bool armed, float ground_speed, float dt)
{
    // soft-armed overrides passed in armed status
    if (!hal.util->get_soft_armed()) {
        armed = false;
        _throttle = 0.0f;
    }

    // sanity check parameters
    sanity_check_parameters();

    // slew limit throttle
    slew_limit_throttle(dt);

    // output for regular steering/throttle style frames
    output_regular(armed, ground_speed, _steering, _throttle);

    // output for omni style frames
    output_omni(armed, _steering, _throttle, _lateral);

    // output for skid steering style frames
    output_skid_steering(armed, _steering, _throttle);

    // send values to the PWM timers for output
    SRV_Channels::calc_pwm();
    SRV_Channels::cork();
    SRV_Channels::output_ch_all();
    SRV_Channels::push();
}

Example #2

File: AP_MotorsUGV.cpp Project: MonashUAS/ardupilot

void AP_MotorsUGV::output(bool armed, float dt)
{
    // soft-armed overrides passed in armed status
    if (!hal.util->get_soft_armed()) {
        armed = false;
    }

    // clear and set limits based on input (limit flags may be set again by output_regular or output_skid_steering methods)
    set_limits_from_input(armed, _steering, _throttle);

    // slew limit throttle
    slew_limit_throttle(dt);

    // output for regular steering/throttle style frames
    output_regular(armed, _steering, _throttle);

    // output for skid steering style frames
    output_skid_steering(armed, _steering, _throttle);

    // send values to the PWM timers for output
    SRV_Channels::calc_pwm();
    SRV_Channels::cork();
    SRV_Channels::output_ch_all();
    SRV_Channels::push();
}