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Allow the user to provide the motor/channel numbers that should be disabled in fixed wing mode in the airframe config.

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This commit is contained in:
Simon Wilks
2015-08-12 20:33:16 +02:00
committed by tumbili
parent c21dd735ed
commit e7364d302a
4 changed files with 50 additions and 2 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+27 -2
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@@ -67,6 +67,7 @@ _min_front_trans_dur(0.5f)
_params_handles_tiltrotor.airspeed_blend_start = param_find("VT_ARSP_BLEND");
_params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFF");
}
Tiltrotor::~Tiltrotor()
@@ -80,6 +81,11 @@ Tiltrotor::parameters_update()
float v;
int l;
/* motors that must be turned off when in fixed wing mode */
param_get(_params_handles_tiltrotor.fw_motors_off, &l);
_params_tiltrotor.fw_motors_off = get_motor_off_channels(l);
/* vtol duration of a front transition */
param_get(_params_handles_tiltrotor.front_trans_dur, &v);
_params_tiltrotor.front_trans_dur = math::constrain(v,1.0f,5.0f);
@@ -126,6 +132,22 @@ Tiltrotor::parameters_update()
return OK;
}
int Tiltrotor::get_motor_off_channels(int channels) {
int channel_bitmap = 0;
int channel;
for (int i = 0; i < _params->vtol_motor_count; ++i) {
channel = channels % 10;
if (channel == 0) {
break;
}
channel_bitmap |= 1 << channel;
channels = channels / 10;
}
return channel_bitmap;
}
void Tiltrotor::update_vtol_state()
{
parameters_update();
@@ -357,7 +379,7 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state) {
memset(&pwm_values, 0, sizeof(pwm_values));
for (int i = 0; i < _params->vtol_motor_count; i++) {
if (i == 2 || i == 3) {
if (is_motor_off_channel(i)) {
pwm_values.values[i] = pwm_value;
} else {
pwm_values.values[i] = PWM_DEFAULT_MAX;
@@ -370,5 +392,8 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state) {
if (ret != OK) {errx(ret, "failed setting max values");}
close(fd);
}
bool Tiltrotor::is_motor_off_channel(const int channel) {
return (_params_tiltrotor.fw_motors_off >> channel) & 1;
}