ardupilot/libraries/AP_Motors/AP_MotorsCoax.h

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/// @file AP_MotorsCoax.h
/// @brief Motor and Servo control class for Co-axial helicopters with two motors and two flaps
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsMulticopter.h"
// feedback direction
#define AP_MOTORS_COAX_POSITIVE 1
#define AP_MOTORS_COAX_NEGATIVE -1
#define NUM_ACTUATORS 4
#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
#define AP_MOTORS_COAX_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
/// @class AP_MotorsSingle
class AP_MotorsCoax : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsCoax(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
{
};
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type);
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();
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// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
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protected:
// output - sends commands to the motors
void output_armed_stabilizing();
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_yt_ccw;
float _thrust_yt_cw;
};