// init void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_type) { add_motor_num(AP_MOTORS_MOT_1); add_motor_num(AP_MOTORS_MOT_2); add_motor_num(AP_MOTORS_MOT_4); // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the ESCs can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_1] = true; motor_enabled[AP_MOTORS_MOT_2] = true; motor_enabled[AP_MOTORS_MOT_4] = true; // find the yaw servo _yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, AP_MOTORS_CH_TRI_YAW); if (!_yaw_servo) { gcs().send_text(MAV_SEVERITY_ERROR, "MotorsTri: unable to setup yaw channel"); // don't set initialised_ok return; } // allow mapping of motor7 add_motor_num(AP_MOTORS_CH_TRI_YAW); // record successful initialisation if what we setup was the desired frame_class _flags.initialised_ok = (frame_class == MOTOR_FRAME_TRI); }
// 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); }
// init void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame_type) { // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the main ESC can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_5] = true; motor_enabled[AP_MOTORS_MOT_6] = true; // we set four servos to angle _servo1.set_type(RC_CHANNEL_TYPE_ANGLE); _servo2.set_type(RC_CHANNEL_TYPE_ANGLE); _servo3.set_type(RC_CHANNEL_TYPE_ANGLE); _servo4.set_type(RC_CHANNEL_TYPE_ANGLE); _servo1.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo2.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo3.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo4.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); // allow mapping of motor7 add_motor_num(CH_7); // record successful initialisation if what we setup was the desired frame_class _flags.initialised_ok = (frame_class == MOTOR_FRAME_SINGLE); }
// init void AP_MotorsTri::Init() { // call parent Init function to set-up throttle curve AP_Motors::Init(); // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); }
// Init void AP_MotorsMatrix::Init() { // setup the motors setup_motors(); // enable fast channels or instant pwm set_update_rate(_speed_hz); }
// Init void AP_MotorsMatrix::Init() { // call parent Init function to set-up throttle curve AP_Motors::Init(); // setup the motors setup_motors(); // enable fast channels or instant pwm set_update_rate(_speed_hz); }
// init void AP_MotorsMatrix::init(motor_frame_class frame_class, motor_frame_type frame_type) { // record requested frame class and type _last_frame_class = frame_class; _last_frame_type = frame_type; // setup the motors setup_motors(frame_class, frame_type); // enable fast channels or instant pwm set_update_rate(_speed_hz); }
// init void AP_MotorsTri::Init() { // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the ESCs can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_1] = true; motor_enabled[AP_MOTORS_MOT_2] = true; motor_enabled[AP_MOTORS_MOT_4] = true; // disable CH7 from being used as an aux output (i.e. for camera gimbal, etc) RC_Channel_aux::disable_aux_channel(AP_MOTORS_CH_TRI_YAW); }
// init void AP_MotorsTri::Init() { // call parent Init function to set-up throttle curve AP_Motors::Init(); // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the ESCs can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_1] = true; motor_enabled[AP_MOTORS_MOT_2] = true; motor_enabled[AP_MOTORS_MOT_4] = true; }
// init void AP_MotorsHeli::Init() { // set update rate set_update_rate(_speed_hz); // ensure inputs are not passed through to servos _servo_manual = 0; // initialise some scalers recalc_scalers(); // initialise swash plate init_swash(); }
// 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(); }
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus) void AP_MotorsMatrix::set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) { // exit immediately if armed or no change if (armed() || (frame_class == _last_frame_class && _last_frame_type == frame_type)) { return; } _last_frame_class = frame_class; _last_frame_type = frame_type; // setup the motors setup_motors(frame_class, frame_type); // enable fast channels or instant pwm set_update_rate(_speed_hz); }
// set frame orientation (normally + or X) void AP_MotorsMatrix::set_frame_orientation( uint8_t new_orientation ) { // return if nothing has changed if( new_orientation == _flags.frame_orientation ) { return; } // call parent AP_Motors::set_frame_orientation( new_orientation ); // setup the motors setup_motors(); // enable fast channels or instant pwm set_update_rate(_speed_hz); }
// Init void AP_MotorsMatrix::Init() { int8_t i; // setup the motors setup_motors(); // double check that opposite motor definitions are ok for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { if( opposite_motor[i] <= 0 || opposite_motor[i] >= AP_MOTORS_MAX_NUM_MOTORS || !motor_enabled[opposite_motor[i]] ) opposite_motor[i] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED; } // enable fast channels or instant pwm set_update_rate(_speed_hz); }
void read_pcemurc(void) { /* This procedure is a bit of a hack :) - will be redone later */ FILE *f1; char buffer[1024]; /* Maximum path length. Should really be a #define */ char keyword[1024]; char value[1024]; int line = 0; int tmp; /* Try current directory first... */ if ((f1 = fopen(".pcemurc","r")) == NULL) { /* Try home directory */ sprintf(buffer,"%s/.pcemurc", getenv("HOME")); if ((f1 = fopen(buffer,"r")) == NULL) { printf("Warning: .pcemurc not found - using compile time defaults\n"); return; } } while (fgets(buffer,sizeof buffer,f1) != NULL) { line++; tmp = sscanf(buffer," %s %s", keyword, value); if (tmp == 0 || keyword[0] == '#') continue; if (tmp != 2) { check_error("Syntax error in .pcemu file", line); continue; } if (strcasecmp(keyword,"bootfile") == 0) check_error(set_boot_file(value), line); else if (strcasecmp(keyword,"boottype") == 0) check_error(set_boot_type(strtol(value, NULL,10)), line); else if (strcasecmp(keyword,"updatespeed") == 0) check_error(set_update_rate(strtol(value, NULL,10)), line); else if (strcasecmp(keyword,"cursorspeed") == 0) check_error(set_cursor_rate(strtol(value, NULL,10)), line); else check_error("Syntax error in .pcemu file", line); } fclose(f1); }
// init void AP_MotorsTri::Init() { add_motor_num(AP_MOTORS_MOT_1); add_motor_num(AP_MOTORS_MOT_2); add_motor_num(AP_MOTORS_MOT_4); // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the ESCs can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_1] = true; motor_enabled[AP_MOTORS_MOT_2] = true; motor_enabled[AP_MOTORS_MOT_4] = true; // allow mapping of motor7 add_motor_num(AP_MOTORS_CH_TRI_YAW); }
// 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(); }
// init void AP_MotorsCoax::Init() { // call parent Init function to set-up throttle curve AP_Motors::Init(); // set update rate for the 2 motors (but not the servo on channel 1&2) set_update_rate(_speed_hz); // set the motor_enabled flag so that the ESCs can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_3] = true; motor_enabled[AP_MOTORS_MOT_4] = true; // set ranges for fin servos _servo1->set_type(RC_CHANNEL_TYPE_ANGLE); _servo2->set_type(RC_CHANNEL_TYPE_ANGLE); _servo1->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE); _servo2->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE); }
// init void AP_MotorsHeli::Init() { // set update rate set_update_rate(_speed_hz); // ensure inputs are not passed through to servos _servo_manual = 0; // initialise some scalers recalc_scalers(); // initialise swash plate init_swash(); // disable channels 7 and 8 from being used by RC_Channel_aux RC_Channel_aux::disable_aux_channel(_motor_to_channel_map[AP_MOTORS_HELI_AUX]); RC_Channel_aux::disable_aux_channel(_motor_to_channel_map[AP_MOTORS_HELI_RSC]); }
// init void AP_MotorsVtol::Init() { // call parent Init function to set-up throttle curve AP_Motors::Init(); // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the ESCs can be calibrated like other frame types motor_enabled[VTOL_CH_VERTICAL_PITCH_FRONT] = true; motor_enabled[VTOL_CH_VERTICAL_ROLL_RIGHT] = true; motor_enabled[VTOL_CH_THROTTLE] = true; motor_enabled[VTOL_CH_VERTICAL_ROLL_LEFT] = true; RC_Channel_aux::disable_aux_channel(VTOL_CH_YAW); RC_Channel_aux::disable_aux_channel(VTOL_CH_HORIZONTAL_PITCH); RC_Channel_aux::disable_aux_channel(VTOL_CH_HORIZONTAL_ROLL); RC_Channel_aux::disable_aux_channel(VTOL_CH_TRANSITION); }
// init void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_type) { add_motor_num(AP_MOTORS_MOT_1); add_motor_num(AP_MOTORS_MOT_2); add_motor_num(AP_MOTORS_MOT_4); // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the ESCs can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_1] = true; motor_enabled[AP_MOTORS_MOT_2] = true; motor_enabled[AP_MOTORS_MOT_4] = true; // allow mapping of motor7 add_motor_num(AP_MOTORS_CH_TRI_YAW); // record successful initialisation if what we setup was the desired frame_class _flags.initialised_ok = (frame_class == MOTOR_FRAME_TRI); }
// init void AP_MotorsSingle::Init() { // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the main ESC can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_7] = true; // we set four servos to angle _servo1.set_type(RC_CHANNEL_TYPE_ANGLE); _servo2.set_type(RC_CHANNEL_TYPE_ANGLE); _servo3.set_type(RC_CHANNEL_TYPE_ANGLE); _servo4.set_type(RC_CHANNEL_TYPE_ANGLE); _servo1.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo2.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo3.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo4.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); // disable CH7 from being used as an aux output (i.e. for camera gimbal, etc) RC_Channel_aux::disable_aux_channel(CH_7); }
// init void AP_MotorsSingle::Init() { // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); // set the motor_enabled flag so that the main ESC can be calibrated like other frame types motor_enabled[AP_MOTORS_MOT_5] = true; motor_enabled[AP_MOTORS_MOT_6] = true; // we set four servos to angle _servo1.set_type(RC_CHANNEL_TYPE_ANGLE); _servo2.set_type(RC_CHANNEL_TYPE_ANGLE); _servo3.set_type(RC_CHANNEL_TYPE_ANGLE); _servo4.set_type(RC_CHANNEL_TYPE_ANGLE); _servo1.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo2.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo3.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); _servo4.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE); // allow mapping of motor7 add_motor_num(CH_7); }
// init void AP_MotorsHeli::Init() { // set update rate set_update_rate(_speed_hz); }
static void change_update( GtkComboBox * combo, CPUGraph * base ) { set_update_rate( base, gtk_combo_box_get_active( combo ) ); }
void read_pcemurc(void) { /* This procedure is a bit of a hack :) - will be redone later */ FILE *f1; char buffer[1024]; /* Maximum path length. Should really be a #define */ char keyword[1024]; char value[1024]; int line = 0; int i; /* Try current directory first... */ if ((f1 = fopen(".pcemurc","r")) == NULL) { /* Try home directory */ sprintf(buffer,"%s/.pcemurc", getenv("HOME")); if ((f1 = fopen(buffer,"r")) == NULL) { printf("Warning: .pcemurc not found - using compile time defaults\n"); return; } } /* This bit hacked by David Given to, er, improve... */ while (fgets(buffer,sizeof buffer,f1) != NULL) { line++; i = 0; /* Strip leading spaces */ while(buffer[i] == ' ') i++; strcpy(keyword, buffer+i); while(buffer[i] != ' ') /* Skip to end of keyword */ i++; while(buffer[i] == ' ') i++; strcpy(value, buffer+i); /* Write value */ i = 0; /* Trim keyword to one word */ while(keyword[i] != ' ') i++; keyword[i] = '\0'; i = 0; /* Strip out \n */ while(value[i] != '\0') { if (value[i] == '\n') value[i] = '\0'; i++; } if ((keyword[0] == '#') || (keyword[0] == ' ') || (keyword[0] == '\n')) continue; if (strcasecmp(keyword, "floppy") == 0) { int drive; char device[1024]; int sectors; int cylinders; int heads; if (sscanf(value, "%d %s %d %d %d", &drive, device, §ors, &cylinders, &heads) == 5) check_error(set_floppy_drive(drive, device, sectors, cylinders, heads), line); else check_error("Syntax error in \"floppy\" directive", line); } else if (strcasecmp(keyword, "harddrive") == 0) { int drive; char device[1024]; int sectors; int cylinders; int heads; if (sscanf(value, "%d %s %d %d %d", &drive, device, §ors, &cylinders, &heads) == 5) check_error(set_hard_drive(drive, device, sectors, cylinders, heads), line); else check_error("Syntax error in \"hard\" directive", line); } else if (strcasecmp(keyword, "numharddrives") == 0) check_error(set_num_hdrives(strtol(value, NULL, 10)), line); else if (strcasecmp(keyword, "numfloppydrives") == 0) check_error(set_num_fdrives(strtol(value, NULL, 10)), line); else if (strcasecmp(keyword,"updatespeed") == 0) check_error(set_update_rate(strtol(value, NULL,10)), line); else if (strcasecmp(keyword,"cursorspeed") == 0) check_error(set_cursor_rate(strtol(value, NULL,10)), line); /* else if (strcasecmp(keyword,"keymap") == 0) check_error(set_keymap(buffer), line);*/ else if (strcasecmp(keyword, "video") == 0) check_error(set_video_mode(value), line); else check_error("Syntax error in .pcemu file", line); } fclose(f1); }
// init void AP_MotorsTri::Init() { // set update rate for the 3 motors (but not the servo on channel 7) set_update_rate(_speed_hz); }