fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete MOT_ORDERING

Browse Source
This commit is contained in:
Daniel Agar 2022-08-24 16:51:24 -04:00
parent a7bbcd5b04
commit 72efe84b80
4 changed files with 5 additions and 54 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/drivers/dshot/DShot.cpp
View File

@ -262,7 +262,7 @@ int DShot::send_command_thread_safe(const dshot_command_t command, const int num
cmd.motor_mask = 0xff;
} else {
cmd.motor_mask = 1 << _mixing_output.reorderedMotorIndex(motor_index);
cmd.motor_mask = 1 << motor_index;
}
cmd.num_repetitions = num_repetitions;
@ -320,7 +320,7 @@ int DShot::request_esc_info()
_telemetry->handler.redirectOutput(*_request_esc_info.load());
_waiting_for_esc_info = true;
int motor_index = _mixing_output.reorderedMotorIndex(_request_esc_info.load()->motor_index);
int motor_index = _request_esc_info.load()->motor_index;
_current_command.motor_mask = 1 << motor_index;
_current_command.num_repetitions = 1;
@ -352,7 +352,7 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
requested_telemetry_index = request_esc_info();
} else {
requested_telemetry_index = _mixing_output.reorderedMotorIndex(_telemetry->handler.getRequestMotorIndex());
requested_telemetry_index = _telemetry->handler.getRequestMotorIndex();
}
}

23
src/lib/mixer_module/mixer_module.cpp
View File

@ -150,8 +150,6 @@ void MixingOutput::updateParams()
{
ModuleParams::updateParams();
_param_mot_ordering.set(0); // not used with dynamic mixing
bool function_changed = false;
for (unsigned i = 0; i < _max_num_outputs; i++) {
@ -429,10 +427,10 @@ unsigned MixingOutput::motorTest()
if (idx < MAX_ACTUATORS) {
if (test_motor.value < 0.f) {
_current_output_value[reorderedMotorIndex(idx)] = _disarmed_value[idx];
_current_output_value[idx] = _disarmed_value[idx];
} else {
_current_output_value[reorderedMotorIndex(idx)] =
_current_output_value[idx] =
math::constrain<uint16_t>(_min_value[idx] + (uint16_t)((_max_value[idx] - _min_value[idx]) * test_motor.value),
_min_value[idx], _max_value[idx]);
}
@ -767,20 +765,3 @@ MixingOutput::actualFailsafeValue(int index) const
return value;
}
int MixingOutput::reorderedMotorIndex(int index) const
{
if ((MotorOrdering)_param_mot_ordering.get() == MotorOrdering::Betaflight) {
switch (index) {
case 0: return 1;
case 1: return 2;
case 2: return 3;
case 3: return 0;
}
}
return index;
}

13
src/lib/mixer_module/mixer_module.hpp
View File

@ -186,13 +186,6 @@ public:
*/
uint16_t actualFailsafeValue(int index) const;
/**
* Get the motor index that maps from PX4 convention to the configured one
* @param index motor index in [0, num_motors-1]
* @return reordered motor index. When out of range, the input index is returned
*/
int reorderedMotorIndex(int index) const;
void setIgnoreLockdown(bool ignore_lockdown) { _ignore_lockdown = ignore_lockdown; }
/**
@ -244,11 +237,6 @@ private:
param_t failsafe{PARAM_INVALID};
};
enum class MotorOrdering : int32_t {
PX4 = 0,
Betaflight = 1
};
void lock() { do {} while (px4_sem_wait(&_lock) != 0); }
void unlock() { px4_sem_post(&_lock); }
@ -319,7 +307,6 @@ private:
(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode, ///< multicopter air-mode
(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to motor control signal modelling factor
(ParamInt<px4::params::MOT_ORDERING>) _param_mot_ordering,
(ParamBool<px4::params::SYS_CTRL_ALLOC>) _param_sys_ctrl_alloc
)

17
src/lib/mixer_module/params.c
View File

@ -16,20 +16,3 @@
* @group Mixer Output
*/
PARAM_DEFINE_INT32(MC_AIRMODE, 0);
/**
* Motor Ordering
*
* Determines the motor ordering. This can be used for example in combination with
* a 4-in-1 ESC that assumes a motor ordering which is different from PX4.
*
* ONLY supported for Quads.
*
* When changing this, make sure to test the motor response without props first.
*
* @value 0 PX4
* @value 1 Betaflight / Cleanflight
*
* @group Mixer Output
*/
PARAM_DEFINE_INT32(MOT_ORDERING, 0);