Plane: add compassmot functionality to Plane #17801
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…t interference Procedure emulating how ArduCopter does compassmot ported over to Plane
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IamPete1
reviewed
Jun 29, 2021
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| // pass through throttle to motors | ||
| SRV_Channels::cork(); | ||
| SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true)); |
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Should also output left and right throttles, we probably also want a option to do CMOT based on forward or vertical motors.
IamPete1
reviewed
Jun 29, 2021
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
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i think @tridge probably needs to take a look at this, i like the idea, so long as there's no trip-hazards that i'm not aware of. :-) |
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the main reason this hasn't been done before is it is so easy to get the right compassmot based on a log and the MagFit option in MAVExplorer. I'll be interested in seeing what the flash cost of this feature is and if it is worth having |
fix if/else statement
tridge
requested changes
Jul 12, 2021
| @@ -176,6 +176,12 @@ class Plane : public AP_Vehicle { | |||
| Parameters g; | |||
| ParametersG2 g2; | |||
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| // main loop scheduler | |||
| AP_Scheduler scheduler; | |||
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Procedure emulating how ArduCopter does compassmot ported over to Plane. Small changes had to be made between the copter version and plane to allow rc input for throttle to be passed through during calibration.
Process was verified on hardware, confirming the fail-safe procedures work as intended.