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vtol_type: improve comments

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent 79ff1436b8
commit cd49c4bc17
2 changed files with 41 additions and 11 deletions
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src/modules/vtol_att_control/vtol_type.cpp
-11
View File
@@ -254,9 +254,6 @@ void VtolType::check_quadchute_condition()
}
}
/**
* Adjust idle speed for mc mode.
*/
bool VtolType::set_idle_mc()
{
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
@@ -289,9 +286,6 @@ bool VtolType::set_idle_mc()
return ret == PX4_OK;
}
/**
* Adjust idle speed for fw mode.
*/
bool VtolType::set_idle_fw()
{
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
@@ -323,11 +317,6 @@ bool VtolType::set_idle_fw()
return ret == PX4_OK;
}
/**
* Set state of selected motors.
* See _params->fw_motors_off for selection of motors.
*/
motor_state VtolType::set_motor_state(const motor_state current_state, const motor_state next_state, const int value)
{
struct pwm_output_values pwm_values = {};
src/modules/vtol_att_control/vtol_type.h
+41
View File
@@ -156,6 +156,8 @@ public:
*/
bool can_transition_on_ground();
mode get_mode() {return _vtol_mode;}
virtual void parameters_update() = 0;
@@ -205,16 +207,55 @@ protected:
motor_state _motor_state = motor_state::DISABLED;
/**
* @brief Sets mc motor minimum pwm to VT_IDLE_PWM_MC which ensures
* that they are spinning in mc mode.
*
* @return true on success
*/
bool set_idle_mc();
/**
* @brief Sets mc motor minimum pwm to PWM_MIN which ensures that the
* motors stop spinning on zero throttle in fw mode.
*
* @return true on success
*/
bool set_idle_fw();
/**
* @brief Sets state of a selection of motors, see struct motor_state
*
* @param[in] current_state The current motor state
* @param[in] next_state The next state
* @param[in] value Desired pwm value if next_state =
* motor_state::VALUE
*
* @return next_state if succesfull, otherwise current_state
*/
motor_state set_motor_state(const motor_state current_state, const motor_state next_state, const int value = 0);
private:
/**
* @brief Stores the max pwm values given by the system.
*/
struct pwm_output_values _max_mc_pwm_values {};
struct pwm_output_values _disarmed_pwm_values {};
/**
* @brief Determines if this channel is one selected by VT_FW_MOT_OFFID
*
* @param[in] channel The channel
*
* @return True if motor off channel, False otherwise.
*/
bool is_motor_off_channel(const int channel);
};