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Copter: set Heli frame default at compile-time #11707

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merged 2 commits into from
Jul 4, 2019
Merged

Copter: set Heli frame default at compile-time #11707

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c8b4001
Copter: set Heli frame default at compile-time
peterbarker Jul 3, 2019
0374a36
Copter: Arming: ensure frame class is appropriate for build FRAME_CONFIG
peterbarker Jul 3, 2019
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14 changes: 14 additions & 0 deletions ArduCopter/AP_Arming.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,6 +172,13 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
#endif

#if FRAME_CONFIG == HELI_FRAME
if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL &&
copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid Heli FRAME_CLASS");
return false;
}

// check helicopter parameters
if (!copter.motors->parameter_check(display_failure)) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Heli motors checks failed");
Expand All @@ -189,6 +196,13 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
return false;
}

#else
if (copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_QUAD ||
copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL ||
copter.g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI) {
check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Invalid MultiCopter FRAME_CLASS");
return false;
}
#endif // HELI_FRAME

// check for missing terrain data
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1 change: 0 additions & 1 deletion ArduCopter/Copter.h
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Expand Up @@ -844,7 +844,6 @@ class Copter : public AP_HAL::HAL::Callbacks {
bool optflow_position_ok();
void update_auto_armed();
bool should_log(uint32_t mask);
void set_default_frame_class();
MAV_TYPE get_frame_mav_type();
const char* get_frame_string();
void allocate_motors(void);
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9 changes: 8 additions & 1 deletion ArduCopter/Parameters.cpp
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Expand Up @@ -28,6 +28,13 @@
#define GOBJECTVARPTR(v, name, var_info_ptr) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }

#if FRAME_CONFIG == HELI_FRAME
// 6 here is AP_Motors::MOTOR_FRAME_HELI
#define DEFAULT_FRAME_CLASS 6
#else
#define DEFAULT_FRAME_CLASS 0
#endif

const AP_Param::Info Copter::var_info[] = {
// @Param: SYSID_SW_MREV
// @DisplayName: Eeprom format version number
Expand Down Expand Up @@ -819,7 +826,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 10:BiCopter, 11:Heli_Dual, 12:DodecaHexa, 13:HeliQuad
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, 0),
AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),

// @Group: SERVO
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
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13 changes: 0 additions & 13 deletions ArduCopter/system.cpp
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Expand Up @@ -108,9 +108,6 @@ void Copter::init_ardupilot()

init_rc_in(); // sets up rc channels from radio

// default frame class to match firmware if possible
set_default_frame_class();

// allocate the motors class
allocate_motors();

Expand Down Expand Up @@ -395,16 +392,6 @@ bool Copter::should_log(uint32_t mask)
#endif
}

// default frame_class to match firmware if possible
void Copter::set_default_frame_class()
{
if (FRAME_CONFIG == HELI_FRAME &&
g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL &&
g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD) {
g2.frame_class.set(AP_Motors::MOTOR_FRAME_HELI);
}
}

// return MAV_TYPE corresponding to frame class
MAV_TYPE Copter::get_frame_mav_type()
{
Expand Down