ardupilot/libraries/AP_Motors/AP_MotorsMatrix.h

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/// @file AP_MotorsMatrix.h
/// @brief Motor control class for Matrixcopters
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include "AP_MotorsMulticopter.h"
#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
/// @class AP_MotorsMatrix
class AP_MotorsMatrix : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsMatrix(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
// you must have setup_motors before calling this
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_test_num - spin a motor connected to the specified output channel
// (should only be performed during testing)
// If a motor output channel is remapped, the mapped channel is used.
// Returns true if motor output is set, false otherwise
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
bool output_test_num(uint8_t motor, int16_t pwm);
// output_to_motors - sends minimum values out to the motors
void output_to_motors() override;
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// get_motor_mask - returns a bitmask of which outputs are being used for motors (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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// return number of motor that has failed. Should only be called if get_thrust_boost() returns true
uint8_t get_lost_motor() const override { return _motor_lost_index; }
protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
// check for failed motor
void check_for_failed_motor(float throttle_thrust_best);
// add_motor using raw roll, pitch, throttle and yaw factors
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void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
// add_motor using just position and yaw_factor (or prop direction)
void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
// add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
void add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
// remove_motor
void remove_motor(int8_t motor_num);
// configures the motors for the defined frame_class and frame_type
virtual void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type);
// normalizes the roll, pitch and yaw factors so maximum magnitude is 0.5
void normalise_rpy_factors();
// call vehicle supplied thrust compensation if set
void thrust_compensation(void) override;
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float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
float _thrust_rpyt_out[AP_MOTORS_MAX_NUM_MOTORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
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uint8_t _test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
motor_frame_class _last_frame_class; // most recently requested frame class (i.e. quad, hexa, octa, etc)
motor_frame_type _last_frame_type; // most recently requested frame type (i.e. plus, x, v, etc)
// motor failure handling
float _thrust_rpyt_out_filt[AP_MOTORS_MAX_NUM_MOTORS]; // filtered thrust outputs with 1 second time constant
uint8_t _motor_lost_index; // index number of the lost motor
};