// output - sends commands to the motors
void AP_Motors::output()
{
// update throttle filter
update_throttle_filter();
// update max throttle
update_max_throttle();
// update _recovery_pct
update_recovery_pct();
// update battery resistance
update_battery_resistance();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// move throttle_low_comp towards desired throttle low comp
update_throttle_thr_mix();
if (_flags.armed) {
if (_flags.stabilizing) {
output_armed_stabilizing();
} else {
output_armed_not_stabilizing();
}
} else {
output_disarmed();
}
};
// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
// update throttle filter
update_throttle_filter();
// update max throttle
update_max_throttle();
// update battery resistance
update_battery_resistance();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// move throttle_low_comp towards desired throttle low comp
update_throttle_thr_mix();
if (_flags.armed) {
if (!_flags.interlock) {
output_armed_zero_throttle();
} else if (_flags.stabilizing) {
output_armed_stabilizing();
} else {
output_armed_not_stabilizing();
}
} else {
_multicopter_flags.slow_start_low_end = true;
output_disarmed();
}
};
// output - sends commands to the servos
void AP_MotorsHeli::output()
{
// update throttle filter
update_throttle_filter();
if (_flags.armed) {
calculate_armed_scalars();
if (!_flags.interlock) {
output_armed_zero_throttle();
} else {
output_armed_stabilizing();
}
} else {
output_disarmed();
}
};
// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
// update throttle filter
update_throttle_filter();
// update battery resistance
update_battery_resistance();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// run spool logic
output_logic();
// calculate thrust
output_armed_stabilizing();
// convert rpy_thrust values to pwm
output_to_motors();
};
// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
// update throttle filter
update_throttle_filter();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// run spool logic
output_logic();
// calculate thrust
output_armed_stabilizing();
// apply any thrust compensation for the frame
thrust_compensation();
// convert rpy_thrust values to pwm
output_to_motors();
// output any booster throttle
output_boost_throttle();
};
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
// stabilizing servos always operate for helicopters
output_armed_stabilizing();
}
// output_armed_zero_throttle - sends commands to the motors
void AP_MotorsHeli::output_armed_zero_throttle()
{
// stabilizing servos always operate for helicopters
// ToDo: Bring RSC Master On/Off into this function
output_armed_stabilizing();
}
// output_disarmed - sends commands to the motors
void AP_MotorsHeli::output_disarmed()
{
// for helis - armed or disarmed we allow servos to move
output_armed_stabilizing();
}
void AP_MotorsHeli::output_armed_not_stabilizing()
{
// call output_armed_stabilizing
output_armed_stabilizing();
}