ardupilot/libraries/AP_Motors/AP_MotorsTri.h

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/// @file AP_MotorsTri.h
/// @brief Motor control class for Tricopters
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsMulticopter.h"
// tail servo uses channel 7
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#define AP_MOTORS_CH_TRI_YAW CH_7
#define AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN 5 // minimum angle movement of tail servo in degrees
#define AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX 80 // maximum angle movement of tail servo in degrees
/// @class AP_MotorsTri
class AP_MotorsTri : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsTri(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMulticopter(loop_rate, speed_hz)
{
};
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// 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) override;
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz ) override;
// 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() override;
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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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// output a thrust to all motors that match a given motor
// mask. This is used to control tiltrotor motors in forward
// flight. Thrust is in the range 0 to 1
// rudder_dt applys diffential thrust for yaw in the range 0 to 1
void output_motor_mask(float thrust, uint8_t mask, float rudder_dt) override;
// return the roll factor of any motor, this is used for tilt rotors and tail sitters
// using copter motors for forward flight
float get_roll_factor(uint8_t i) override;
protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
// call vehicle supplied thrust compensation if set
void thrust_compensation(void) override;
// parameters
SRV_Channel *_yaw_servo; // yaw output channel
float _pivot_angle; // Angle of yaw pivot
float _thrust_right;
float _thrust_rear;
float _thrust_left;
// reverse pitch
bool _pitch_reversed;
};