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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsCoax.h
/// @brief Motor and Servo control class for Co-axial helicopters with two motors and two flaps
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# ifndef __AP_MOTORS_COAX_H__
# define __AP_MOTORS_COAX_H__
# include <AP_Common.h>
# include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
# include <RC_Channel.h> // RC Channel Library
# include "AP_Motors.h"
// feedback direction
# define AP_MOTORS_COAX_POSITIVE 1
# define AP_MOTORS_COAX_NEGATIVE -1
# 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
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# 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)
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/// @class AP_MotorsSingle
class AP_MotorsCoax : public AP_Motors {
public :
/// Constructor
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AP_MotorsCoax ( RC_Channel & rc_roll , RC_Channel & rc_pitch , RC_Channel & rc_throttle , RC_Channel & rc_yaw , RC_Channel & servo1 , RC_Channel & servo2 , uint16_t loop_rate , uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT ) :
AP_Motors ( rc_roll , rc_pitch , rc_throttle , rc_yaw , loop_rate , speed_hz ) ,
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_servo1 ( servo1 ) ,
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_servo2 ( servo2 )
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{
AP_Param : : setup_object_defaults ( this , var_info ) ;
} ;
// init
virtual void Init ( ) ;
// set update rate to motors - a value in hertz
void set_update_rate ( uint16_t speed_hz ) ;
// enable - starts allowing signals to be sent to motors
virtual void enable ( ) ;
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// output_test - 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 ( uint8_t motor_seq , int16_t pwm ) ;
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// output_min - sends minimum values out to the motors
virtual void output_min ( ) ;
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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
// for coax copter, output channels 1 to 4 are used
virtual uint16_t get_motor_mask ( ) { return 0x000F ; }
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// var_info for holding Parameter information
static const struct AP_Param : : GroupInfo var_info [ ] ;
protected :
// output - sends commands to the motors
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void output_armed_stabilizing ( ) ;
void output_armed_not_stabilizing ( ) ;
void output_disarmed ( ) ;
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AP_Int8 _rev_roll ; // REV Roll feedback
AP_Int8 _rev_pitch ; // REV pitch feedback
AP_Int8 _rev_yaw ; // REV yaw feedback
AP_Int16 _servo_speed ; // servo speed
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RC_Channel & _servo1 ;
RC_Channel & _servo2 ;
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} ;
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# endif // AP_MOTORSCOAX