ardupilot/ArduCopter/motors_octa.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#if FRAME_CONFIG ==	OCTA_FRAME

static void init_motors_out()
{
	#if INSTANT_PWM == 0
	APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
                                 | _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8),
                                 g.rc_speed);
	#endif
}

static void motors_output_enable()
{
	APM_RC.enable_out(MOT_1);
	APM_RC.enable_out(MOT_2);
	APM_RC.enable_out(MOT_3);
	APM_RC.enable_out(MOT_4);
	APM_RC.enable_out(MOT_5);
	APM_RC.enable_out(MOT_6);
	APM_RC.enable_out(MOT_7);
	APM_RC.enable_out(MOT_8);
}

static void output_motors_armed()
{
	int roll_out, pitch_out;
	int out_min = g.rc_3.radio_min;
	int out_max = g.rc_3.radio_max;

	// Throttle is 0 to 1000 only
	g.rc_3.servo_out 	= constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);

	if(g.rc_3.servo_out > 0)
		out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;

	g.rc_1.calc_pwm();
	g.rc_2.calc_pwm();
	g.rc_3.calc_pwm();
	g.rc_4.calc_pwm();

	if(g.frame_orientation == X_FRAME){
		roll_out 	 		= (float)g.rc_1.pwm_out * 0.4;
		pitch_out 	 		= (float)g.rc_2.pwm_out * 0.4;

		//Front side
		motor_out[MOT_1]	= g.rc_3.radio_out + g.rc_2.pwm_out - roll_out;	 // CW	 FRONT RIGHT
		motor_out[MOT_5] 	= g.rc_3.radio_out + g.rc_2.pwm_out + roll_out;	 // CCW	 FRONT LEFT

		//Back side
		motor_out[MOT_2]	= g.rc_3.radio_out - g.rc_2.pwm_out + roll_out;	 // CW	 BACK LEFT
		motor_out[MOT_4]	= g.rc_3.radio_out - g.rc_2.pwm_out - roll_out;	 // CCW	BACK RIGHT

		//Left side
		motor_out[MOT_7] 	= g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out; // CW	 LEFT FRONT
		motor_out[MOT_6] 	= g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out; // CCW	 LEFT BACK

		//Right side
		motor_out[MOT_8] 	= g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out; // CW	 RIGHT BACK
		motor_out[MOT_3]	= g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out; // CCW	 RIGHT FRONT

	}else if(g.frame_orientation == PLUS_FRAME){
		roll_out 			= (float)g.rc_1.pwm_out * 0.71;
		pitch_out 	 		= (float)g.rc_2.pwm_out * 0.71;

		//Front side
		motor_out[MOT_1]	= g.rc_3.radio_out + g.rc_2.pwm_out;		// CW	FRONT
		motor_out[MOT_3] 	= g.rc_3.radio_out - roll_out + pitch_out;	// CCW	FRONT RIGHT
		motor_out[MOT_5] 	= g.rc_3.radio_out + roll_out + pitch_out;	// CCW	FRONT LEFT

		//Left side
		motor_out[MOT_7] 	= g.rc_3.radio_out + g.rc_1.pwm_out;		// CW	LEFT

		//Right side
		motor_out[MOT_8] 	= g.rc_3.radio_out - g.rc_1.pwm_out;		// CW	RIGHT

		//Back side
		motor_out[MOT_2]	= g.rc_3.radio_out - g.rc_2.pwm_out;		// CW	BACK
		motor_out[MOT_4]	= g.rc_3.radio_out - roll_out - pitch_out;	// CCW 	BACK RIGHT
		motor_out[MOT_6]	= g.rc_3.radio_out + roll_out - pitch_out;	// CCW	BACK LEFT

	}else if(g.frame_orientation == V_FRAME){

		int roll_out2, pitch_out2;
		int roll_out3, pitch_out3;
		int roll_out4, pitch_out4;

		roll_out 	 	= g.rc_1.pwm_out;
		pitch_out 	 	= g.rc_2.pwm_out;
		roll_out2 	 	= (float)g.rc_1.pwm_out * 0.833;
		pitch_out2 	 	= (float)g.rc_2.pwm_out * 0.34;
		roll_out3 	 	= (float)g.rc_1.pwm_out * 0.666;
		pitch_out3 	 	= (float)g.rc_2.pwm_out * 0.32;
		roll_out4 	 	= g.rc_1.pwm_out / 2;
		pitch_out4 	 	= (float)g.rc_2.pwm_out * 0.98;

		//Front side
		motor_out[MOT_7]	= g.rc_3.radio_out + g.rc_2.pwm_out - roll_out;		// CW	FRONT RIGHT
		motor_out[MOT_5] 	= g.rc_3.radio_out + g.rc_2.pwm_out + roll_out;		// CCW FRONT LEFT

		//Left side
		motor_out[MOT_1] 	= g.rc_3.radio_out + g.rc_1.pwm_out + pitch_out2; 	// CW	LEFT FRONT
		motor_out[MOT_3] 	= g.rc_3.radio_out + g.rc_1.pwm_out - pitch_out3;	// CCW LEFT BACK

		//Right side
		motor_out[MOT_2] 	= g.rc_3.radio_out - g.rc_1.pwm_out - pitch_out3;	// CW	RIGHT BACK
		motor_out[MOT_6]		= g.rc_3.radio_out - g.rc_1.pwm_out + pitch_out2;	// CCW RIGHT FRONT

		//Back side
		motor_out[MOT_8]	= g.rc_3.radio_out - g.rc_2.pwm_out + roll_out4;	// CW	BACK LEFT
		motor_out[MOT_4]	= g.rc_3.radio_out - g.rc_2.pwm_out - roll_out4;	// CCW BACK RIGHT

	}

	// Yaw
	motor_out[MOT_3]	+= g.rc_4.pwm_out;	// CCW
	motor_out[MOT_4]	+= g.rc_4.pwm_out;	// CCW
	motor_out[MOT_5] 	+= g.rc_4.pwm_out;	// CCW
	motor_out[MOT_6] 	+= g.rc_4.pwm_out;	// CCW

	motor_out[MOT_1]	-= g.rc_4.pwm_out;	// CW
	motor_out[MOT_2]	-= g.rc_4.pwm_out;	// CW
	motor_out[MOT_7]	-= g.rc_4.pwm_out;	// CW
	motor_out[MOT_8]	-= g.rc_4.pwm_out;	// CW


	// TODO add stability patch
	motor_out[MOT_1]		= min(motor_out[MOT_1], out_max);
	motor_out[MOT_2]		= min(motor_out[MOT_2], out_max);
	motor_out[MOT_3]		= min(motor_out[MOT_3], out_max);
	motor_out[MOT_4]		= min(motor_out[MOT_4], out_max);
	motor_out[MOT_5]		= min(motor_out[MOT_5],	out_max);
	motor_out[MOT_6]		= min(motor_out[MOT_6],	out_max);
	motor_out[MOT_7]		= min(motor_out[MOT_7], out_max);
	motor_out[MOT_8] 		= min(motor_out[MOT_8], out_max);


	// limit output so motors don't stop
	motor_out[MOT_1]		= max(motor_out[MOT_1], out_min);
	motor_out[MOT_2]		= max(motor_out[MOT_2], out_min);
	motor_out[MOT_3]		= max(motor_out[MOT_3], out_min);
	motor_out[MOT_4] 		= max(motor_out[MOT_4], out_min);
	motor_out[MOT_5]		= max(motor_out[MOT_5], out_min);
	motor_out[MOT_6]	 	= max(motor_out[MOT_6], out_min);
	motor_out[MOT_7]		= max(motor_out[MOT_7], out_min);
	motor_out[MOT_8] 		= max(motor_out[MOT_8], out_min);


	#if CUT_MOTORS == ENABLED
	// if we are not sending a throttle output, we cut the motors
	if(g.rc_3.servo_out == 0){
		motor_out[MOT_1]	= g.rc_3.radio_min;
		motor_out[MOT_2]	= g.rc_3.radio_min;
		motor_out[MOT_3]	= g.rc_3.radio_min;
		motor_out[MOT_4] 	= g.rc_3.radio_min;
		motor_out[MOT_5] 	= g.rc_3.radio_min;
		motor_out[MOT_6] 	= g.rc_3.radio_min;
		motor_out[MOT_7] 	= g.rc_3.radio_min;
		motor_out[MOT_8] 	= g.rc_3.radio_min;
	}
	#endif

	// this filter slows the acceleration of motors vs the deceleration
	// Idea by Denny Rowland to help with his Yaw issue
	for(int8_t m = 1; m <= 8; m++){
		int c = ch_of_mot(m);
		if(motor_filtered[c] < motor_out[c]){
			motor_filtered[c] = (motor_out[c] + motor_filtered[c]) / 2;
		}else{
			// don't filter
			motor_filtered[c] = motor_out[c];
		}
	}

	APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
	APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
	APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
	APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
	APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
	APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
	APM_RC.OutputCh(MOT_7, motor_filtered[MOT_7]);
	APM_RC.OutputCh(MOT_8, motor_filtered[MOT_8]);

	#if INSTANT_PWM == 1
	// InstantPWM
	APM_RC.Force_Out0_Out1();
	APM_RC.Force_Out2_Out3();
	APM_RC.Force_Out6_Out7();
	#endif
}

static void output_motors_disarmed()
{
	if(g.rc_3.control_in > 0){
		// we have pushed up the throttle
		// remove safety
		motor_auto_armed = true;
	}

	// fill the motor_out[] array for HIL use
	for (unsigned char i = 0; i < 11; i++){
		motor_out[i] = g.rc_3.radio_min;
	}

	// Send commands to motors
	APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
	APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
	APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
	APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
	APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);

	APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
	APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
	APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
}

static void output_motor_test()
{

		motor_out[MOT_1] = g.rc_3.radio_min;
		motor_out[MOT_2] = g.rc_3.radio_min;
		motor_out[MOT_3] = g.rc_3.radio_min;
		motor_out[MOT_4] = g.rc_3.radio_min;
		motor_out[MOT_5] = g.rc_3.radio_min;
		motor_out[MOT_6] = g.rc_3.radio_min;
		motor_out[MOT_7] = g.rc_3.radio_min;
		motor_out[MOT_8] = g.rc_3.radio_min;


	if(g.frame_orientation == X_FRAME || g.frame_orientation == PLUS_FRAME){
		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
		 delay(4000);
		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
		 delay(300);
	}

	if(g.frame_orientation == V_FRAME){
		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
		 delay(4000);
		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
		 delay(300);

		 APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
		 delay(2000);
		 APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100);
		 delay(300);
	}

	APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
	APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
	APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
	APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
	APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
	APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
	APM_RC.OutputCh(MOT_7, motor_out[MOT_7]);
	APM_RC.OutputCh(MOT_8, motor_out[MOT_8]);

}

#endif