Esempi in C++ (Cpp) per reset_swash_servo

Esempio n. 1

File: AP_MotorsHeli_Single.cpp Progetto: FantasyJXF/ardupilot

// init_outputs - initialise Servo/PWM ranges and endpoints
bool AP_MotorsHeli_Single::init_outputs()
{
    if (!_flags.initialised_ok) {
        _swash_servo_1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1);
        _swash_servo_2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
        _swash_servo_3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
        _yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
        if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
            _tail_rotor.init_servo();
            if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo) {
                return false;
            }
        } else {
            _servo_aux = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, CH_7);
            if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo || !_servo_aux) {
                return false;
            }
        }
    }

    // reset swash servo range and endpoints
    reset_swash_servo (_swash_servo_1);
    reset_swash_servo (_swash_servo_2);
    reset_swash_servo (_swash_servo_3);

    _yaw_servo->set_angle(4500);

    // set main rotor servo range
    // tail rotor servo use range as set in vehicle code for rc7
    _main_rotor.init_servo();

    return true;
}

Esempio n. 2

File: AP_MotorsHeli_Single.cpp Progetto: jungleaugu/ardupilot

// init_outputs - initialise Servo/PWM ranges and endpoints
void AP_MotorsHeli_Single::init_outputs()
{
    // reset swash servo range and endpoints
    reset_swash_servo (_swash_servo_1);
    reset_swash_servo (_swash_servo_2);
    reset_swash_servo (_swash_servo_3);

    _yaw_servo.set_angle(4500);

    // set main rotor servo range
    // tail rotor servo use range as set in vehicle code for rc7
    _main_rotor.init_servo();
}

Esempio n. 3

File: AP_MotorsHeli_Dual.cpp Progetto: CUAir/ardupilot

// init_outputs
bool AP_MotorsHeli_Dual::init_outputs()
{
    if (!_flags.initialised_ok) {
        _swash_servo_1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1);
        _swash_servo_2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
        _swash_servo_3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
        _swash_servo_4 = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
        _swash_servo_5 = SRV_Channels::get_channel_for(SRV_Channel::k_motor5, CH_5);
        _swash_servo_6 = SRV_Channels::get_channel_for(SRV_Channel::k_motor6, CH_6);
        if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 ||
            !_swash_servo_4 || !_swash_servo_5 || !_swash_servo_6) {
            return false;
        }
    }

    // reset swash servo range and endpoints
    reset_swash_servo (_swash_servo_1);
    reset_swash_servo (_swash_servo_2);
    reset_swash_servo (_swash_servo_3);
    reset_swash_servo (_swash_servo_4);
    reset_swash_servo (_swash_servo_5);
    reset_swash_servo (_swash_servo_6);

    // set rotor servo range
    _rotor.init_servo();

    _flags.initialised_ok = true;

    return true;
}

Esempio n. 4

File: AP_MotorsHeli_Dual.cpp Progetto: ericzhangva/ardupilot

// init_outputs
bool AP_MotorsHeli_Dual::init_outputs()
{
    if (!_flags.initialised_ok) {
        // make sure 6 output channels are mapped
        for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
            add_motor_num(CH_1+i);
        }

        // set rotor servo range
        _rotor.init_servo();

    }

    // reset swash servo range and endpoints
    for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
        reset_swash_servo(SRV_Channels::get_motor_function(i));
    }

    _flags.initialised_ok = true;

    return true;
}

Esempio n. 5

File: AP_MotorsHeli_Single.cpp Progetto: ericzhangva/ardupilot

// init_outputs - initialise Servo/PWM ranges and endpoints
bool AP_MotorsHeli_Single::init_outputs()
{
    if (!_flags.initialised_ok) {
        // map primary swash servos
        for (uint8_t i=0; i<AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS; i++) {
            add_motor_num(CH_1+i);
        }
        // yaw servo
        add_motor_num(CH_4);

        // initialize main rotor servo
        _main_rotor.init_servo();

        if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
            _tail_rotor.init_servo();
        } else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
            // external gyro output
            add_motor_num(AP_MOTORS_HELI_SINGLE_EXTGYRO);
        }
    }

    if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {            
        // External Gyro uses PWM output thus servo endpoints are forced
        SRV_Channels::set_output_min_max(SRV_Channels::get_motor_function(AP_MOTORS_HELI_SINGLE_EXTGYRO), 1000, 2000);
    }

    // reset swash servo range and endpoints
    for (uint8_t i=0; i<AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS; i++) {
        reset_swash_servo(SRV_Channels::get_motor_function(i));
    }

    // yaw servo is an angle from -4500 to 4500
    SRV_Channels::set_angle(SRV_Channel::k_motor4, YAW_SERVO_MAX_ANGLE);

    _flags.initialised_ok = true;

    return true;
}