ardupilot/Blimp/Fins.h

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//This class converts horizontal acceleration commands to fin flapping commands.
#pragma once
#include <AP_Notify/AP_Notify.h>
extern const AP_HAL::HAL& hal;
#define NUM_FINS 4 //Current maximum number of fins that can be added.
#define RC_SCALE 1000
class Fins
{
public:
friend class Blimp;
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friend class Loiter;
enum motor_frame_class {
MOTOR_FRAME_UNDEFINED = 0,
MOTOR_FRAME_AIRFISH = 1,
};
enum motor_frame_type {
MOTOR_FRAME_TYPE_AIRFISH = 1,
};
//constructor
Fins(uint16_t loop_rate);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
bool initialised_ok() const
{
return true;
}
void armed(bool arm)
{
if (arm != _armed) {
_armed = arm;
AP_Notify::flags.armed = arm;
}
}
bool armed() const
{
return _armed;
}
protected:
// internal variables
const uint16_t _loop_rate; // rate in Hz at which output() function is called (normally 400hz)
uint16_t _speed_hz; // speed in hz to send updates to motors
float _throttle_avg_max; // last throttle input from set_throttle_avg_max
float _time; // current timestamp
bool _armed; // 0 if disarmed, 1 if armed
float _amp[NUM_FINS]; //amplitudes
float _off[NUM_FINS]; //offsets
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float _freq[NUM_FINS]; //frequency multiplier
float _pos[NUM_FINS]; //servo positions
float _right_amp_factor[NUM_FINS];
float _front_amp_factor[NUM_FINS];
float _down_amp_factor[NUM_FINS];
float _yaw_amp_factor[NUM_FINS];
float _right_off_factor[NUM_FINS];
float _front_off_factor[NUM_FINS];
float _down_off_factor[NUM_FINS];
float _yaw_off_factor[NUM_FINS];
int8_t _num_added;
//MIR This should probably become private in future.
public:
float right_out; //input right movement, negative for left, +1 to -1
float front_out; //input front/forwards movement, negative for backwards, +1 to -1
float yaw_out; //input yaw, +1 to -1
float down_out; //input height control, +1 to -1
AP_Float freq_hz;
AP_Int8 turbo_mode;
bool _interlock; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run)
bool _initialised_ok; // 1 if initialisation was successful
void output_min();
void add_fin(int8_t fin_num, float right_amp_fac, float front_amp_fac, float yaw_amp_fac, float down_amp_fac,
float right_off_fac, float front_off_fac, float yaw_off_fac, float down_off_fac);
void setup_fins();
void output();
float get_throttle()
{
//Only for Mavlink - essentially just an indicator of how hard the fins are working.
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//Note that this is the unconstrained version, so if the higher level control gives too high input,
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//throttle will be displayed as more than 100.
return fmaxf(fmaxf(fabsf(down_out),fabsf(front_out)), fmaxf(fabsf(right_out),fabsf(yaw_out)));
}
void rc_write(uint8_t chan, uint16_t pwm);
};