コード例 #1
0
// init
void AP_MotorsHeli::init(motor_frame_class frame_class, motor_frame_type frame_type)
{
    // remember frame type
    _frame_type = frame_type;

    // set update rate
    set_update_rate(_speed_hz);

    // load boot-up servo test cycles into counter to be consumed
    _servo_test_cycle_counter = _servo_test;

    // ensure inputs are not passed through to servos on start-up
    _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;

    // initialise radio passthrough for collective to middle
    _throttle_radio_passthrough = 0.5f;

    // initialise Servo/PWM ranges and endpoints
    if (!init_outputs()) {
        // don't set initialised_ok
        return;
    }

    // calculate all scalars
    calculate_scalars();

    // record successful initialisation if what we setup was the desired frame_class
    _flags.initialised_ok = (frame_class == MOTOR_FRAME_HELI);
}
コード例 #2
0
// reset_flight_controls - resets all controls and scalars to flight status
void AP_MotorsHeli::reset_flight_controls()
{
    reset_radio_passthrough();
    _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;
    init_outputs();
    calculate_scalars();
}
コード例 #3
0
ファイル: AP_MotorsHeli.cpp プロジェクト: CnuUasLab/ardupilot
// reset_flight_controls - resets all controls and scalars to flight status
void AP_MotorsHeli::reset_flight_controls()
{
    reset_radio_passthrough();
    _servo_manual = 0;
    init_outputs();
    calculate_scalars();
}
コード例 #4
0
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
    if (_servo_test_cycle_counter > 0){
        // perform boot-up servo test cycle if enabled
        servo_test();
    } else {
        // manual override (i.e. when setting up swash)
        switch (_servo_mode) {
            case SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH:
                // pass pilot commands straight through to swash
                _roll_control_input = _roll_radio_passthrough;
                _pitch_control_input = _pitch_radio_passthrough;
                _throttle_control_input = _throttle_radio_passthrough;
                _yaw_control_input = _yaw_radio_passthrough;
                break;
            case SERVO_CONTROL_MODE_MANUAL_CENTER:
                // fixate mid collective
                _roll_control_input = 0;
                _pitch_control_input = 0;
                _throttle_control_input = _collective_mid_pwm;
                _yaw_control_input = 0;
                break;
            case SERVO_CONTROL_MODE_MANUAL_MAX:
                // fixate max collective
                _roll_control_input = 0;
                _pitch_control_input = 0;
                _throttle_control_input = 1000;
                _yaw_control_input = 4500;
                break;
            case SERVO_CONTROL_MODE_MANUAL_MIN:
                // fixate min collective
                _roll_control_input = 0;
                _pitch_control_input = 0;
                _throttle_control_input = 0;
                _yaw_control_input = -4500;
                break;
            case SERVO_CONTROL_MODE_MANUAL_OSCILLATE:
                // use servo_test function from child classes
                servo_test();
                break;
            default:
                // no manual override
                break;
        }
    }

    // ensure swash servo endpoints haven't been moved
    init_outputs();

    // continuously recalculate scalars to allow setup
    calculate_scalars();

    // helicopters always run stabilizing flight controls
    move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);

    update_motor_control(ROTOR_CONTROL_STOP);
}
コード例 #5
0
ファイル: AP_MotorsHeli.cpp プロジェクト: CnuUasLab/ardupilot
// init
void AP_MotorsHeli::Init()
{
    // set update rate
    set_update_rate(_speed_hz);

    // ensure inputs are not passed through to servos on start-up
    _servo_manual = 0;

    // initialise Servo/PWM ranges and endpoints
    init_outputs();

    // calculate all scalars
    calculate_scalars();
}
コード例 #6
0
// init
void AP_MotorsHeli::Init()
{
    // set update rate
    set_update_rate(_speed_hz);

    // load boot-up servo test cycles into counter to be consumed
    _servo_test_cycle_counter = _servo_test;

    // ensure inputs are not passed through to servos on start-up
    _servo_mode = SERVO_CONTROL_MODE_AUTOMATED;

    // initialise Servo/PWM ranges and endpoints
    init_outputs();

    // calculate all scalars
    calculate_scalars();
}
コード例 #7
0
ファイル: AP_MotorsHeli.cpp プロジェクト: CnuUasLab/ardupilot
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
    // 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;
    }

    // ensure swash servo endpoints haven't been moved
    init_outputs();

    // continuously recalculate scalars to allow setup
    calculate_scalars();

    // helicopters always run stabilizing flight controls
    move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);

    update_motor_control(ROTOR_CONTROL_STOP);
}