fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 04:11:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete unused PWM IOCTLs

Browse Source
This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent bcdd2203d3
commit ce337a3d80
35 changed files with 198 additions and 1331 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+1 -15
View File
@@ -263,13 +263,7 @@ void Tiltrotor::update_mc_state()
// normal operation
_tilt_control = VtolType::pusher_assist() + _param_vt_tilt_mc.get();
_mc_yaw_weight = 1.0f;
// do thrust compensation only for legacy (static) allocation
if (!_param_sys_ctrl_alloc.get()) {
_v_att_sp->thrust_body[2] = Tiltrotor::thrust_compensation_for_tilt();
}
}
}
void Tiltrotor::update_fw_state()
@@ -309,7 +303,6 @@ void Tiltrotor::update_transition_state()
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
// for the first part of the transition all rotors are enabled
set_all_motor_state(motor_state::ENABLED);
// tilt rotors forward up to certain angle
if (_tilt_control <= _param_vt_tilt_trans.get()) {
@@ -357,12 +350,6 @@ void Tiltrotor::update_transition_state()
_mc_roll_weight = 0.0f;
_mc_yaw_weight = 0.0f;
// ramp down motors not used in fixed-wing flight (setting MAX_PWM down scales the given output into the new range)
int ramp_down_value = (1.0f - time_since_trans_start / _param_vt_trans_p2_dur.get()) *
(PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) + PWM_DEFAULT_MIN;
set_alternate_motor_state(motor_state::VALUE, ramp_down_value);
// add minimum throttle for front transition
_thrust_transition = math::max(_thrust_transition, FRONTTRANS_THR_MIN);
@@ -378,7 +365,7 @@ void Tiltrotor::update_transition_state()
// set idle speed for rotary wing mode
if (!_flag_idle_mc) {
_flag_idle_mc = set_idle_mc();
_flag_idle_mc = true;
}
// tilt rotors back once motors are idle
@@ -407,7 +394,6 @@ void Tiltrotor::update_transition_state()
// while we quickly rotate back the motors keep throttle at idle
// turn on all MC motors
set_all_motor_state(motor_state::ENABLED);
_mc_throttle_weight = 0.0f;
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;