AP_MotorsHeli Class Reference

#include <AP_MotorsHeli.h>

Inheritance diagram for AP_MotorsHeli:

Collaboration diagram for AP_MotorsHeli:

Classes
struct	heliflags_type

Public Member Functions
	AP_MotorsHeli (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_HELI_SPEED_DEFAULT)
	Constructor. More...
void	init (motor_frame_class frame_class, motor_frame_type frame_type)
void	set_frame_class_and_type (motor_frame_class frame_class, motor_frame_type frame_type)
virtual void	set_update_rate (uint16_t speed_hz)=0
void	output_min ()
virtual void	output_test (uint8_t motor_seq, int16_t pwm)=0
virtual bool	parameter_check (bool display_msg) const
virtual bool	has_flybar () const
void	set_collective_for_landing (bool landing)
void	set_inverted_flight (bool inverted)
uint8_t	get_rsc_mode () const
float	get_rsc_setpoint () const
virtual void	set_desired_rotor_speed (float desired_speed)=0
virtual float	get_desired_rotor_speed () const =0
virtual float	get_main_rotor_speed () const =0
bool	rotor_runup_complete () const
virtual bool	rotor_speed_above_critical () const =0
virtual uint16_t	get_motor_mask ()=0
virtual void	set_acro_tail (bool set)
virtual void	ext_gyro_gain (float gain)
void	output ()
virtual bool	supports_yaw_passthrough () const
float	get_throttle_hover () const
Public Member Functions inherited from AP_Motors
	AP_Motors (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_SPEED_DEFAULT)
bool	initialised_ok () const
bool	armed () const
void	armed (bool arm)
void	set_interlock (bool set)
bool	get_interlock () const
void	set_roll (float roll_in)
void	set_pitch (float pitch_in)
void	set_yaw (float yaw_in)
void	set_throttle (float throttle_in)
void	set_throttle_avg_max (float throttle_avg_max)
void	set_throttle_filter_cutoff (float filt_hz)
void	set_forward (float forward_in)
void	set_lateral (float lateral_in)
float	get_roll () const
float	get_pitch () const
float	get_yaw () const
float	get_throttle () const
float	get_throttle_bidirectional () const
float	get_forward () const
float	get_lateral () const
virtual void	set_desired_spool_state (enum spool_up_down_desired spool)
enum spool_up_down_desired	get_desired_spool_state (void) const
void	set_air_density_ratio (float ratio)
void	set_radio_passthrough (float roll_input, float pitch_input, float throttle_input, float yaw_input)
void	set_loop_rate (uint16_t loop_rate)
pwm_type	get_pwm_type (void) const

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Protected Types
enum	ServoControlModes {   SERVO_CONTROL_MODE_AUTOMATED = 0, SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH, SERVO_CONTROL_MODE_MANUAL_MAX, SERVO_CONTROL_MODE_MANUAL_CENTER,   SERVO_CONTROL_MODE_MANUAL_MIN, SERVO_CONTROL_MODE_MANUAL_OSCILLATE }

Protected Member Functions
void	output_armed_stabilizing ()
void	output_armed_zero_throttle ()
void	output_disarmed ()
virtual void	update_motor_control (RotorControlState state)=0
void	reset_flight_controls ()
void	update_throttle_filter ()
virtual void	move_actuators (float roll_out, float pitch_out, float coll_in, float yaw_out)=0
void	reset_swash_servo (SRV_Channel *servo)
virtual bool	init_outputs ()=0
virtual void	calculate_armed_scalars ()=0
virtual void	calculate_scalars ()=0
virtual void	calculate_roll_pitch_collective_factors ()=0
virtual void	servo_test ()=0
int16_t	calc_pwm_output_1to1_swash_servo (float input, const SRV_Channel *servo)
Protected Member Functions inherited from AP_Motors
virtual void	rc_write (uint8_t chan, uint16_t pwm)
virtual void	rc_write_angle (uint8_t chan, int16_t angle_cd)
virtual void	rc_set_freq (uint32_t mask, uint16_t freq_hz)
virtual uint32_t	rc_map_mask (uint32_t mask) const
void	add_motor_num (int8_t motor_num)
virtual void	save_params_on_disarm ()
int16_t	calc_pwm_output_1to1 (float input, const SRV_Channel *servo)
int16_t	calc_pwm_output_0to1 (float input, const SRV_Channel *servo)

Protected Attributes
struct AP_MotorsHeli::heliflags_type	_heliflags
AP_Int16	_cyclic_max
AP_Int16	_collective_min
AP_Int16	_collective_max
AP_Int16	_collective_mid
AP_Int8	_servo_mode
AP_Int16	_rsc_setpoint
AP_Int8	_rsc_mode
AP_Int8	_rsc_ramp_time
AP_Int8	_rsc_runup_time
AP_Int16	_land_collective_min
AP_Int16	_rsc_critical
AP_Int16	_rsc_idle_output
AP_Int16	_rsc_thrcrv [5]
AP_Int16	_rsc_slewrate
AP_Int8	_servo_test
float	_collective_mid_pct = 0.0f
uint8_t	_servo_test_cycle_counter = 0
motor_frame_type	_frame_type
Protected Attributes inherited from AP_Motors
struct AP_Motors::AP_Motors_flags	_flags
uint16_t	_loop_rate
uint16_t	_speed_hz
float	_roll_in
float	_pitch_in
float	_yaw_in
float	_throttle_in
float	_forward_in
float	_lateral_in
float	_throttle_avg_max
LowPassFilterFloat	_throttle_filter
spool_up_down_desired	_spool_desired
float	_air_density_ratio
uint16_t	_motor_fast_mask
float	_roll_radio_passthrough
float	_pitch_radio_passthrough
float	_throttle_radio_passthrough
float	_yaw_radio_passthrough
AP_Int8	_pwm_type

Additional Inherited Members
Public Types inherited from AP_Motors
enum	motor_frame_class {   MOTOR_FRAME_UNDEFINED = 0, MOTOR_FRAME_QUAD = 1, MOTOR_FRAME_HEXA = 2, MOTOR_FRAME_OCTA = 3,   MOTOR_FRAME_OCTAQUAD = 4, MOTOR_FRAME_Y6 = 5, MOTOR_FRAME_HELI = 6, MOTOR_FRAME_TRI = 7,   MOTOR_FRAME_SINGLE = 8, MOTOR_FRAME_COAX = 9, MOTOR_FRAME_TAILSITTER = 10, MOTOR_FRAME_HELI_DUAL = 11,   MOTOR_FRAME_DODECAHEXA = 12, MOTOR_FRAME_HELI_QUAD = 13 }
enum	motor_frame_type {   MOTOR_FRAME_TYPE_PLUS = 0, MOTOR_FRAME_TYPE_X = 1, MOTOR_FRAME_TYPE_V = 2, MOTOR_FRAME_TYPE_H = 3,   MOTOR_FRAME_TYPE_VTAIL = 4, MOTOR_FRAME_TYPE_ATAIL = 5, MOTOR_FRAME_TYPE_Y6B = 10, MOTOR_FRAME_TYPE_Y6F = 11 }
enum	spool_up_down_desired { DESIRED_SHUT_DOWN = 0, DESIRED_SPIN_WHEN_ARMED = 1, DESIRED_THROTTLE_UNLIMITED = 2 }
enum	pwm_type {   PWM_TYPE_NORMAL = 0, PWM_TYPE_ONESHOT = 1, PWM_TYPE_ONESHOT125 = 2, PWM_TYPE_BRUSHED = 3,   PWM_TYPE_DSHOT150 = 4, PWM_TYPE_DSHOT300 = 5, PWM_TYPE_DSHOT600 = 6, PWM_TYPE_DSHOT1200 = 7 }
Static Public Member Functions inherited from AP_Motors
static AP_Motors *	get_instance (void)
Public Attributes inherited from AP_Motors
struct AP_Motors::AP_Motors_limit	limit

Detailed Description

Definition at line 50 of file AP_MotorsHeli.h.

Member Enumeration Documentation

ServoControlModes

enum AP_MotorsHeli::ServoControlModes

protected

Enumerator
SERVO_CONTROL_MODE_AUTOMATED
SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH
SERVO_CONTROL_MODE_MANUAL_MAX
SERVO_CONTROL_MODE_MANUAL_CENTER
SERVO_CONTROL_MODE_MANUAL_MIN
SERVO_CONTROL_MODE_MANUAL_OSCILLATE

Definition at line 142 of file AP_MotorsHeli.h.

Constructor & Destructor Documentation

AP_MotorsHeli()

AP_MotorsHeli::AP_MotorsHeli ( uint16_t  loop_rate, uint16_t  speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT  )

inline

Constructor.

Definition at line 54 of file AP_MotorsHeli.h.

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Member Function Documentation

calc_pwm_output_1to1_swash_servo()

int16_t AP_MotorsHeli::calc_pwm_output_1to1_swash_servo ( float  input, const SRV_Channel *  servo  )

protected

Definition at line 432 of file AP_MotorsHeli.cpp.

Referenced by AP_MotorsHeli_Dual::move_actuators(), and AP_MotorsHeli_Single::move_actuators().

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calculate_armed_scalars()

virtual void AP_MotorsHeli::calculate_armed_scalars ( )

protectedpure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by output().

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calculate_roll_pitch_collective_factors()

virtual void AP_MotorsHeli::calculate_roll_pitch_collective_factors ( )

protectedpure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

calculate_scalars()

virtual void AP_MotorsHeli::calculate_scalars ( )

protectedpure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by init(), output_disarmed(), and reset_flight_controls().

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ext_gyro_gain()

virtual void AP_MotorsHeli::ext_gyro_gain ( float  gain )

inlinevirtual

Reimplemented in AP_MotorsHeli_Single.

Definition at line 126 of file AP_MotorsHeli.h.

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get_desired_rotor_speed()

virtual float AP_MotorsHeli::get_desired_rotor_speed ( ) const

pure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by get_rsc_setpoint().

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get_main_rotor_speed()

virtual float AP_MotorsHeli::get_main_rotor_speed ( ) const

pure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by get_rsc_setpoint().

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get_motor_mask()

virtual uint16_t AP_MotorsHeli::get_motor_mask ( )

pure virtual

Implements AP_Motors.

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by rotor_runup_complete().

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get_rsc_mode()

uint8_t AP_MotorsHeli::get_rsc_mode ( ) const

inline

Definition at line 99 of file AP_MotorsHeli.h.

get_rsc_setpoint()

float AP_MotorsHeli::get_rsc_setpoint ( ) const

inline

Definition at line 102 of file AP_MotorsHeli.h.

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get_throttle_hover()

float AP_MotorsHeli::get_throttle_hover ( ) const

inlinevirtual

Implements AP_Motors.

Definition at line 134 of file AP_MotorsHeli.h.

has_flybar()

virtual bool AP_MotorsHeli::has_flybar ( ) const

inlinevirtual

Reimplemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Definition at line 90 of file AP_MotorsHeli.h.

init()

void AP_MotorsHeli::init ( motor_frame_class  frame_class, motor_frame_type  frame_type  )

virtual

Implements AP_Motors.

Definition at line 204 of file AP_MotorsHeli.cpp.

Referenced by AP_MotorsHeli().

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init_outputs()

virtual bool AP_MotorsHeli::init_outputs ( )

protectedpure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by init(), output_disarmed(), and reset_flight_controls().

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move_actuators()

virtual void AP_MotorsHeli::move_actuators ( float  roll_out, float  pitch_out, float  coll_in, float  yaw_out  )

protectedpure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by output_armed_stabilizing(), output_armed_zero_throttle(), output_disarmed(), and output_min().

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output()

void AP_MotorsHeli::output ( )

virtual

Implements AP_Motors.

Definition at line 256 of file AP_MotorsHeli.cpp.

Referenced by ext_gyro_gain().

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output_armed_stabilizing()

void AP_MotorsHeli::output_armed_stabilizing ( )

protectedvirtual

Implements AP_Motors.

Definition at line 274 of file AP_MotorsHeli.cpp.

Referenced by output().

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output_armed_zero_throttle()

void AP_MotorsHeli::output_armed_zero_throttle ( )

protected

Definition at line 287 of file AP_MotorsHeli.cpp.

Referenced by output().

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output_disarmed()

void AP_MotorsHeli::output_disarmed ( )

protected

Definition at line 300 of file AP_MotorsHeli.cpp.

Referenced by output().

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output_min()

void AP_MotorsHeli::output_min ( )

virtual

Implements AP_Motors.

Definition at line 241 of file AP_MotorsHeli.cpp.

Referenced by AP_MotorsHeli().

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output_test()

virtual void AP_MotorsHeli::output_test ( uint8_t  motor_seq, int16_t  pwm  )

pure virtual

Implements AP_Motors.

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by AP_MotorsHeli().

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parameter_check()

bool AP_MotorsHeli::parameter_check ( bool  display_msg ) const

virtual

Reimplemented in AP_MotorsHeli_Single.

Definition at line 359 of file AP_MotorsHeli.cpp.

Referenced by AP_MotorsHeli(), and AP_MotorsHeli_Single::parameter_check().

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reset_flight_controls()

void AP_MotorsHeli::reset_flight_controls ( )

protected

Definition at line 422 of file AP_MotorsHeli.cpp.

Referenced by output_armed_stabilizing(), and output_armed_zero_throttle().

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reset_swash_servo()

void AP_MotorsHeli::reset_swash_servo ( SRV_Channel *  servo )

protected

Definition at line 398 of file AP_MotorsHeli.cpp.

Referenced by AP_MotorsHeli_Dual::init_outputs(), and AP_MotorsHeli_Single::init_outputs().

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rotor_runup_complete()

bool AP_MotorsHeli::rotor_runup_complete ( ) const

inline

Definition at line 114 of file AP_MotorsHeli.h.

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rotor_speed_above_critical()

virtual bool AP_MotorsHeli::rotor_speed_above_critical ( ) const

pure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by rotor_runup_complete().

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servo_test()

virtual void AP_MotorsHeli::servo_test ( )

protectedpure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by output_disarmed().

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set_acro_tail()

virtual void AP_MotorsHeli::set_acro_tail ( bool  set )

inlinevirtual

Reimplemented in AP_MotorsHeli_Single.

Definition at line 123 of file AP_MotorsHeli.h.

set_collective_for_landing()

void AP_MotorsHeli::set_collective_for_landing ( bool  landing )

inline

Definition at line 93 of file AP_MotorsHeli.h.

set_desired_rotor_speed()

virtual void AP_MotorsHeli::set_desired_rotor_speed ( float  desired_speed )

pure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by get_rsc_setpoint().

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set_frame_class_and_type()

void AP_MotorsHeli::set_frame_class_and_type ( motor_frame_class  frame_class, motor_frame_type  frame_type  )

virtual

Implements AP_Motors.

Definition at line 235 of file AP_MotorsHeli.cpp.

Referenced by AP_MotorsHeli().

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set_inverted_flight()

void AP_MotorsHeli::set_inverted_flight ( bool  inverted )

inline

Definition at line 96 of file AP_MotorsHeli.h.

set_update_rate()

virtual void AP_MotorsHeli::set_update_rate ( uint16_t  speed_hz )

pure virtual

Reimplemented from AP_Motors.

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by AP_MotorsHeli(), and init().

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supports_yaw_passthrough()

virtual bool AP_MotorsHeli::supports_yaw_passthrough ( ) const

inlinevirtual

Reimplemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Definition at line 132 of file AP_MotorsHeli.h.

update_motor_control()

virtual void AP_MotorsHeli::update_motor_control ( RotorControlState  state )

protectedpure virtual

Implemented in AP_MotorsHeli_Single, AP_MotorsHeli_Dual, and AP_MotorsHeli_Quad.

Referenced by output_armed_stabilizing(), output_armed_zero_throttle(), output_disarmed(), and output_min().

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update_throttle_filter()

void AP_MotorsHeli::update_throttle_filter ( )

protectedvirtual

Implements AP_Motors.

Definition at line 408 of file AP_MotorsHeli.cpp.

Referenced by output().

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Member Data Documentation

_collective_max

AP_Int16 AP_MotorsHeli::_collective_max

protected

Definition at line 201 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_scalars(), AP_MotorsHeli_Dual::calculate_scalars(), AP_MotorsHeli_Single::calculate_scalars(), AP_MotorsHeli_Quad::move_actuators(), AP_MotorsHeli_Dual::move_actuators(), and AP_MotorsHeli_Single::move_actuators().

_collective_mid

AP_Int16 AP_MotorsHeli::_collective_mid

protected

Definition at line 202 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_scalars(), AP_MotorsHeli_Dual::calculate_scalars(), and AP_MotorsHeli_Single::calculate_scalars().

_collective_mid_pct

float AP_MotorsHeli::_collective_mid_pct = 0.0f

protected

Definition at line 216 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_scalars(), AP_MotorsHeli_Dual::calculate_scalars(), AP_MotorsHeli_Single::calculate_scalars(), AP_MotorsHeli_Single::move_actuators(), and output_disarmed().

_collective_min

AP_Int16 AP_MotorsHeli::_collective_min

protected

Definition at line 200 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_scalars(), AP_MotorsHeli_Dual::calculate_scalars(), AP_MotorsHeli_Single::calculate_scalars(), AP_MotorsHeli_Quad::move_actuators(), AP_MotorsHeli_Dual::move_actuators(), and AP_MotorsHeli_Single::move_actuators().

_cyclic_max

AP_Int16 AP_MotorsHeli::_cyclic_max

protected

Definition at line 199 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Dual::move_actuators(), and AP_MotorsHeli_Single::move_actuators().

_frame_type

motor_frame_type AP_MotorsHeli::_frame_type

protected

Definition at line 219 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_roll_pitch_collective_factors(), and init().

_heliflags

struct AP_MotorsHeli::heliflags_type AP_MotorsHeli::_heliflags

protected

Referenced by AP_MotorsHeli(), AP_MotorsHeli_Quad::move_actuators(), AP_MotorsHeli_Dual::move_actuators(), AP_MotorsHeli_Single::move_actuators(), rotor_runup_complete(), set_collective_for_landing(), set_inverted_flight(), AP_MotorsHeli_Quad::update_motor_control(), AP_MotorsHeli_Dual::update_motor_control(), and AP_MotorsHeli_Single::update_motor_control().

_land_collective_min

AP_Int16 AP_MotorsHeli::_land_collective_min

protected

Definition at line 208 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::move_actuators(), AP_MotorsHeli_Dual::move_actuators(), and AP_MotorsHeli_Single::move_actuators().

_rsc_critical

AP_Int16 AP_MotorsHeli::_rsc_critical

protected

Definition at line 209 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_scalars(), and parameter_check().

_rsc_idle_output

AP_Int16 AP_MotorsHeli::_rsc_idle_output

protected

Definition at line 210 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_scalars(), and parameter_check().

_rsc_mode

AP_Int8 AP_MotorsHeli::_rsc_mode

protected

Definition at line 205 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_scalars(), AP_MotorsHeli_Dual::calculate_scalars(), AP_MotorsHeli_Single::calculate_scalars(), get_rsc_mode(), and parameter_check().

_rsc_ramp_time

AP_Int8 AP_MotorsHeli::_rsc_ramp_time

protected

Definition at line 206 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_scalars(), and parameter_check().

_rsc_runup_time

AP_Int8 AP_MotorsHeli::_rsc_runup_time

protected

Definition at line 207 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_armed_scalars(), AP_MotorsHeli_Single::calculate_scalars(), and parameter_check().

_rsc_setpoint

AP_Int16 AP_MotorsHeli::_rsc_setpoint

protected

Definition at line 204 of file AP_MotorsHeli.h.

Referenced by get_rsc_setpoint(), and parameter_check().

_rsc_slewrate

AP_Int16 AP_MotorsHeli::_rsc_slewrate

protected

Definition at line 212 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), and AP_MotorsHeli_Single::calculate_armed_scalars().

_rsc_thrcrv

AP_Int16 AP_MotorsHeli::_rsc_thrcrv[5]

protected

Definition at line 211 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli_Quad::calculate_armed_scalars(), AP_MotorsHeli_Dual::calculate_armed_scalars(), and AP_MotorsHeli_Single::calculate_armed_scalars().

_servo_mode

AP_Int8 AP_MotorsHeli::_servo_mode

protected

Definition at line 203 of file AP_MotorsHeli.h.

Referenced by init(), AP_MotorsHeli_Dual::move_actuators(), AP_MotorsHeli_Single::move_actuators(), output_armed_stabilizing(), output_armed_zero_throttle(), output_disarmed(), and reset_flight_controls().

_servo_test

AP_Int8 AP_MotorsHeli::_servo_test

protected

Definition at line 213 of file AP_MotorsHeli.h.

Referenced by init().

_servo_test_cycle_counter

uint8_t AP_MotorsHeli::_servo_test_cycle_counter = 0

protected

Definition at line 217 of file AP_MotorsHeli.h.

Referenced by init(), output_disarmed(), AP_MotorsHeli_Dual::servo_test(), and AP_MotorsHeli_Single::servo_test().

var_info

const AP_Param::GroupInfo AP_MotorsHeli::var_info

static

Definition at line 137 of file AP_MotorsHeli.h.

Referenced by AP_MotorsHeli().

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The documentation for this class was generated from the following files:

• libraries/AP_Motors/AP_MotorsHeli.h
• libraries/AP_Motors/AP_MotorsHeli.cpp