ardupilot/libraries/AP_Motors/AP_Motors_Class.cpp

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/*
* AP_Motors.cpp - ArduCopter motors library
* Code by RandyMackay. DIYDrones.com
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*/
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#include "AP_Motors_Class.h"
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
// parameters for the motor class
const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
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// @Param: TB_RATIO
// @DisplayName: Top Bottom Ratio
// @Description: Not Used. Will control the speed of the top motors vs bottom motors on frames such as the Octo-Quad and Y6
AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio, AP_MOTORS_TOP_BOTTOM_RATIO), // not used
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// @Param: TCRV_ENABLE
// @DisplayName: Thrust Curve Enable
// @Description: Controls whether a curve is used to linearize the thrust produced by the motors
// @Values: 0:Disabled,1:Enable
AP_GROUPINFO("TCRV_ENABLE", 1, AP_Motors, _throttle_curve_enabled, THROTTLE_CURVE_ENABLED),
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// @Param: TCRV_MIDPCT
// @DisplayName: Thrust Curve mid-point percentage
// @Description: Set the pwm position that produces half the maximum thrust of the motors
// @Range: 20 80
AP_GROUPINFO("TCRV_MIDPCT", 2, AP_Motors, _throttle_curve_mid, THROTTLE_CURVE_MID_THRUST),
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// @Param: TCRV_MAXPCT
// @DisplayName: Thrust Curve max thrust percentage
// @Description: Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept.
// @Range: 20 80
AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
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AP_GROUPEND
};
// Constructor
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AP_Motors::AP_Motors( uint8_t APM_version, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz ) :
_rc_roll(rc_roll),
_rc_pitch(rc_pitch),
_rc_throttle(rc_throttle),
_rc_yaw(rc_yaw),
_speed_hz(speed_hz),
_armed(false),
_auto_armed(false),
_frame_orientation(0),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)
{
uint8_t i;
top_bottom_ratio = AP_MOTORS_TOP_BOTTOM_RATIO;
// initialise motor map
if( APM_version == AP_MOTORS_APM1 ) {
set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
} else {
set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
}
// clear output arrays
for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
motor_out[i] = 0;
}
};
// init
void AP_Motors::Init()
{
// set-up throttle curve - motors classes will decide whether to use it based on _throttle_curve_enabled parameter
setup_throttle_curve();
};
// throttle_pass_through - passes throttle through to motors - dangerous but used for initialising ESCs
void AP_Motors::throttle_pass_through()
{
if( armed() ) {
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// XXX
for( int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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hal.rcout->write(_motor_to_channel_map[i], _rc_throttle->radio_in);
}
}
}
// setup_throttle_curve - used to linearlise thrust output by motors
// returns true if set up successfully
bool AP_Motors::setup_throttle_curve()
{
int16_t min_pwm = _rc_throttle->radio_min;
int16_t max_pwm = _rc_throttle->radio_max;
int16_t mid_throttle_pwm = (max_pwm + min_pwm) / 2;
int16_t mid_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_mid/100.0);
int16_t max_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_max/100.0);
bool retval = true;
// some basic checks that the curve is valid
if( mid_thrust_pwm >= (min_pwm+_min_throttle) && mid_thrust_pwm <= max_pwm && max_thrust_pwm >= mid_thrust_pwm && max_thrust_pwm <= max_pwm ) {
// clear curve
_throttle_curve.clear();
// curve initialisation
retval &= _throttle_curve.add_point(min_pwm, min_pwm);
retval &= _throttle_curve.add_point(min_pwm+_min_throttle, min_pwm+_min_throttle);
retval &= _throttle_curve.add_point(mid_throttle_pwm, mid_thrust_pwm);
retval &= _throttle_curve.add_point(max_pwm, max_thrust_pwm);
// return success
return retval;
}else{
retval = false;
}
// disable throttle curve if not set-up corrrectly
if( !retval ) {
_throttle_curve_enabled = false;
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hal.console->println_P(PSTR("AP_Motors: failed to create throttle curve"));
}
return retval;
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}