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AP_Motors: Tricopter: fix actuator indexing #26313

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merged 1 commit into from
Feb 27, 2024
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AP_Motors: Tricopter: fix actuator indexing #26313

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28 changes: 13 additions & 15 deletions libraries/AP_Motors/AP_MotorsTri.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,34 +90,32 @@ void AP_MotorsTri::output_to_motors()
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
rc_write(AP_MOTORS_MOT_1, output_to_pwm(0));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(0));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(0));
_actuator[AP_MOTORS_MOT_1] = 0.0;
_actuator[AP_MOTORS_MOT_2] = 0.0;
_actuator[AP_MOTORS_MOT_4] = 0.0;
rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
break;
case SpoolState::GROUND_IDLE:
// sends output to motors when armed but not flying
set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[2], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[4], actuator_spin_up_to_ground_idle());
rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_1], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_2], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_4], actuator_spin_up_to_ground_idle());
rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
case SpoolState::SPOOLING_DOWN:
// set motor output based on thrust requests
set_actuator_with_slew(_actuator[1], thr_lin.thrust_to_actuator(_thrust_right));
set_actuator_with_slew(_actuator[2], thr_lin.thrust_to_actuator(_thrust_left));
set_actuator_with_slew(_actuator[4], thr_lin.thrust_to_actuator(_thrust_rear));
rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_1], thr_lin.thrust_to_actuator(_thrust_right));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_2], thr_lin.thrust_to_actuator(_thrust_left));
set_actuator_with_slew(_actuator[AP_MOTORS_MOT_4], thr_lin.thrust_to_actuator(_thrust_rear));
rc_write_angle(AP_MOTORS_CH_TRI_YAW, degrees(_pivot_angle)*100);
break;
}

rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[AP_MOTORS_MOT_1]));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[AP_MOTORS_MOT_2]));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[AP_MOTORS_MOT_4]));
}

// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
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