Mirrors_Framework/PX4-Autopilot
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Update mapping

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This commit is contained in:
Lorenz Meier
2016-08-15 23:31:58 +02:00
parent 39ce001c41
commit 73362f325b
2 changed files with 20 additions and 27 deletions
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src/drivers/tap_esc/drv_tap_esc.h
+3
View File
@@ -74,7 +74,10 @@
* ....
*
*/
// Circular from back right in CCW direction
#define ESC_POS {0, 1, 4, 3, 2, 5, 7, 8}
// 0 is CW, 1 is CCW
#define ESC_DIR {0, 1, 0, 1, 0, 1, 0, 1}
#define RPMMAX 1900
src/drivers/tap_esc/tap_esc.cpp
+17 -27
View File
@@ -630,31 +630,6 @@ TAP_ESC::cycle()
size_t num_outputs = _channels_count;
/*
// FIXME: don't know what this mode should be used for. It's hardcoded in initialization and never changed.
switch (_mode) {
case MODE_2PWM:
num_outputs = 2;
break;
case MODE_4PWM:
num_outputs = 4;
break;
case MODE_6PWM:
num_outputs = 6;
break;
case MODE_8PWM:
num_outputs = 8;
break;
default:
num_outputs = 0;
break;
}
*/
/* can we mix? */
if (_is_armed && _mixers != nullptr) {
@@ -723,8 +698,23 @@ TAP_ESC::cycle()
const unsigned esc_count = num_outputs;
float motor_out[TAP_ESC_MAX_MOTOR_NUM];
for (int i = 0; i < esc_count; ++i) {
motor_out[i] = _outputs.output[i];
// We need to remap from the system default to what PX4's normal
// scheme is
if (num_outputs == 6) {
motor_out[0] = _outputs.output[3];
motor_out[1] = _outputs.output[0];
motor_out[2] = _outputs.output[4];
motor_out[3] = _outputs.output[2];
motor_out[4] = _outputs.output[1];
motor_out[5] = _outputs.output[5];
motor_out[6] = RPMSTOPPED;
motor_out[7] = RPMSTOPPED;
} else {
// Use the system defaults
for (int i = 0; i < esc_count; ++i) {
motor_out[i] = _outputs.output[i];
}
}
send_esc_outputs(motor_out, esc_count);