ardupilot/libraries/AP_Motors/AP_MotorsTri.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

/// @file	AP_MotorsTri.h
/// @brief	Motor control class for Tricopters

#ifndef AP_MOTORSTRI
#define AP_MOTORSTRI

#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h>     // RC Channel Library
#include <APM_RC.h>         // ArduPilot Mega RC Library
#include <AP_Motors.h>

// tail servo uses channel 7
#define AP_MOTORS_CH_TRI_YAW    CH_7

/// @class      AP_MotorsTri
class AP_MotorsTri : public AP_Motors {
public:

    /// Constructor
    AP_MotorsTri( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, RC_Channel* rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
        AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
        _rc_tail(rc_tail) {
    };

    // 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();

    // get basic information about the platform
    virtual uint8_t         get_num_motors() {
        return 4;
    };                                                  // 3 motors + 1 tail servo

    // motor test
    virtual void        output_test();

    // output_min - sends minimum values out to the motors
    virtual void        output_min();

protected:
    // output - sends commands to the motors
    virtual void        output_armed();
    virtual void        output_disarmed();

    RC_Channel*         _rc_tail;       // REV parameter used from this channel to determine direction of tail servo movement
};

#endif  // AP_MOTORSTRI