ardupilot/libraries/AP_Motors/AP_MotorsHeli.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_MotorsHeli.h
/// @brief Motor control class for Traditional Heli
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#ifndef __AP_MOTORS_HELI_H__
#define __AP_MOTORS_HELI_H__
#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h> // RC Channel Library
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#include "AP_Motors.h"
#define AP_MOTORS_HELI_SPEED_DEFAULT 125 // default servo update rate for helicopters
#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
#define AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS 3
// tail servo uses channel 7
#define AP_MOTORS_HELI_EXT_GYRO CH_7
// frame definitions
#define AP_MOTORS_HELI_SWASH_CCPM 0
#define AP_MOTORS_HELI_SWASH_H1 1
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// ext RSC definitions
#define AP_MOTORS_HELI_EXT_RSC CH_8
#define AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH 1
#define AP_MOTORSHELI_RSC_MODE_EXT_GOV 2
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// head definitions
#define FLYBARLESS_HEAD 0
#define FLYBAR_HEAD 1
// motor run-up timer
#define MOTOR_RUNUP_TIME 500 // 500 = 5 seconds
class AP_HeliControls;
/// @class AP_MotorsHeli
class AP_MotorsHeli : public AP_Motors {
public:
/// Constructor
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AP_MotorsHeli( RC_Channel* rc_roll,
RC_Channel* rc_pitch,
RC_Channel* rc_throttle,
RC_Channel* rc_yaw,
RC_Channel* rc_8,
RC_Channel* swash_servo_1,
RC_Channel* swash_servo_2,
RC_Channel* swash_servo_3,
RC_Channel* yaw_servo,
uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
_servo_1(swash_servo_1),
_servo_2(swash_servo_2),
_servo_3(swash_servo_3),
_servo_4(yaw_servo),
_rc_8(rc_8)
{
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AP_Param::setup_object_defaults(this, var_info);
throttle_mid = 0;
_roll_scaler = 1;
_pitch_scaler = 1;
_collective_scalar = 1;
_stab_throttle_scalar = 1;
_swash_initialised = false;
stab_throttle = false;
motor_runup_complete = false;
};
RC_Channel *_servo_1;
RC_Channel *_servo_2;
RC_Channel *_servo_3;
RC_Channel *_servo_4;
RC_Channel *_rc_8;
AP_Int8 swash_type;
AP_Int16 servo1_pos;
AP_Int16 servo2_pos;
AP_Int16 servo3_pos;
AP_Int16 collective_min;
AP_Int16 collective_max;
AP_Int16 collective_mid;
AP_Int16 ext_gyro_enabled;
AP_Int16 ext_gyro_gain;
AP_Int16 roll_max;
AP_Int16 pitch_max;
AP_Int16 phase_angle;
AP_Int16 collective_yaw_effect;
AP_Int8 servo_manual; // used to trigger swash reset from mission planner
AP_Int16 ext_gov_setpoint; // maximum output to the motor governor
AP_Int8 rsc_mode; // sets the mode for rotor speed controller
AP_Int16 rsc_ramp_up_rate; // sets the time in 100th seconds the RSC takes to ramp up to speed
AP_Int8 flybar_mode; // selects FBL Acro Mode, or Flybarred Acro Mode
int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000)
AP_Int8 stab_col_min; // collective pitch minimum in Stabilize Mode
AP_Int8 stab_col_max; // collective pitch maximum in Stabilize Mode
bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range
bool motor_runup_complete; // true if the rotors have had enough time to wind up
int16_t coll_out; // returns the actual collective in use to the main code
// init
void Init();
// 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 );
// enable - starts allowing signals to be sent to motors
void enable();
// motor test
void output_test();
// output_min - sends minimum values out to the motors
void output_min();
// init_swash - initialise the swash plate
void init_swash();
// output - sends commands to the motors
void output_armed();
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// heli_move_swash - moves swash plate to attitude of parameters passed in
void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);
// reset_swash - free up swash for maximum movements. Used for set-up
void reset_swash();
void output_disarmed();
void rsc_control();
float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
// internally used variables
float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
float _stab_throttle_scalar; // throttle scalar to reduce the range of the collective movement in stabilize mode
bool _swash_initialised; // true if swash has been initialised
int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t rsc_ramp; // current state of ramping
int16_t motor_runup_timer; // timer to determine if motor has run up fully
};
#endif // AP_MOTORSHELI