C++ (Cpp) set_motor_to_channel_map Examples

Example #1

File: AP_Motors_Class.cpp Project: dberroya/trad-arducopter

// Constructor
AP_Motors::AP_Motors( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz ) :
    _rc_roll(rc_roll),
    _rc_pitch(rc_pitch),
    _rc_throttle(rc_throttle),
    _rc_yaw(rc_yaw),
    _speed_hz(speed_hz),
    _armed(false),
    _frame_orientation(0),
    _min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
    _max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),
    _hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE)
{
    uint8_t i;

    AP_Param::setup_object_defaults(this, var_info);

    // initialise motor map
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
        set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
#else
        set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
#endif

    // clear output arrays
    for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        motor_out[i] = 0;
    }
};

Example #2

File: AP_Motors.cpp Project: Jean-Emile/ardupilot

// Constructor
AP_Motors::AP_Motors( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz ) :
    _rc(rc_out),
    _rc_roll(rc_roll),
    _rc_pitch(rc_pitch),
    _rc_throttle(rc_throttle),
    _rc_yaw(rc_yaw),
    _speed_hz(speed_hz),
    _armed(false),
    _auto_armed(false),
    _frame_orientation(0),
    _min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
    _max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)
{
    uint8_t i;

    top_bottom_ratio = AP_MOTORS_TOP_BOTTOM_RATIO;

    // initialise motor map
    if( APM_version == AP_MOTORS_APM1 ) {
        set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
    } else {
        set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
    }

    // clear output arrays
    for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        motor_out[i] = 0;
    }
};