ardupilot/libraries/AP_Motors/AP_MotorsHeli_Dual.h

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/// @file AP_MotorsHeli_Dual.h
/// @brief Motor control class for dual heli (tandem or transverse)
/// @author Fredrik Hedberg
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include "AP_MotorsHeli.h"
#include "AP_MotorsHeli_RSC.h"
#include "AP_MotorsHeli_Swash.h"
// tandem modes
#define AP_MOTORS_HELI_DUAL_MODE_TANDEM 0 // tandem mode (rotors front and aft)
#define AP_MOTORS_HELI_DUAL_MODE_TRANSVERSE 1 // transverse mode (rotors side by side)
#define AP_MOTORS_HELI_DUAL_MODE_INTERMESHING 2 // intermeshing mode (rotors side by side)
// tandem modes
#define AP_MOTORS_HELI_DUAL_SWASH_AXIS_PITCH 0 // swashplate pitch tilt axis
#define AP_MOTORS_HELI_DUAL_SWASH_AXIS_ROLL 1 // swashplate roll tilt axis
#define AP_MOTORS_HELI_DUAL_SWASH_AXIS_COLL 2 // swashplate collective axis
// default differential-collective-pitch scaler
#define AP_MOTORS_HELI_DUAL_DCP_SCALER 0.25f
// maximum number of swashplate servos
#define AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS 6
// default collective min, max and midpoints for the rear swashplate
#define AP_MOTORS_HELI_DUAL_COLLECTIVE2_MIN 1250
#define AP_MOTORS_HELI_DUAL_COLLECTIVE2_MAX 1750
#define AP_MOTORS_HELI_DUAL_COLLECTIVE2_MID 1500
/// @class AP_MotorsHeli_Dual
class AP_MotorsHeli_Dual : public AP_MotorsHeli {
public:
// constructor
AP_MotorsHeli_Dual(uint16_t loop_rate,
uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
AP_MotorsHeli(loop_rate, speed_hz)
{
AP_Param::setup_object_defaults(this, var_info);
};
// set_update_rate - set update rate to motors
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends values out to the motors
void output_to_motors() override;
// set_rpm - for rotor speed governor
void set_rpm(float rotor_rpm) override;
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void set_desired_rotor_speed(float desired_speed) override;
// get_estimated_rotor_speed - gets estimated rotor speed as a number from 0 ~ 1000
float get_main_rotor_speed() const override { return _main_rotor.get_rotor_speed(); }
// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
float get_desired_rotor_speed() const override { return _main_rotor.get_rotor_speed(); }
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
bool rotor_speed_above_critical() const override { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
// get_governor_output
float get_governor_output() const override { return _main_rotor.get_governor_output(); }
// get_control_output
float get_control_output() const override { return _main_rotor.get_control_output(); }
// calculate_scalars - recalculates various scalars used
void calculate_scalars() override;
// calculate_armed_scalars - recalculates scalars that can change while armed
void calculate_armed_scalars() override;
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
uint16_t get_motor_mask() override;
// has_flybar - returns true if we have a mechical flybar
bool has_flybar() const override { return AP_MOTORS_HELI_NOFLYBAR; }
// supports_yaw_passthrought - returns true if we support yaw passthrough
bool supports_yaw_passthrough() const override { return false; }
// servo_test - move servos through full range of movement
void servo_test() override;
// parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
bool parameter_check(bool display_msg) const override;
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// init_outputs
bool init_outputs () override;
// update_motor_controls - sends commands to motor controllers
void update_motor_control(RotorControlState state) override;
// get_swashplate - calculate movement of each swashplate based on configuration
float get_swashplate(int8_t swash_num, int8_t swash_axis, float pitch_input, float roll_input, float yaw_input, float coll_input);
// move_actuators - moves swash plate to attitude of parameters passed in
void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;
// objects we depend upon
AP_MotorsHeli_Swash _swashplate1; // swashplate1
AP_MotorsHeli_Swash _swashplate2; // swashplate2
// internal variables
float _oscillate_angle = 0.0f; // cyclic oscillation angle, used by servo_test function
float _servo_test_cycle_time = 0.0f; // cycle time tracker, used by servo_test function
float _collective_test = 0.0f; // over-ride for collective output, used by servo_test function
float _roll_test = 0.0f; // over-ride for roll output, used by servo_test function
float _pitch_test = 0.0f; // over-ride for pitch output, used by servo_test function
float _servo_out[8]; // output value sent to motor
// parameters
AP_Int16 _collective2_min; // Lowest possible servo position for the rear swashplate
AP_Int16 _collective2_max; // Highest possible servo position for the rear swashplate
AP_Int16 _collective2_mid; // Swash servo position corresponding to zero collective pitch for the rear swashplate (or zero lift for Asymmetrical blades)
AP_Int8 _dual_mode; // which dual mode the heli is
AP_Float _dcp_scaler; // scaling factor applied to the differential-collective-pitch
AP_Float _dcp_yaw_effect; // feed-forward compensation to automatically add yaw input when differential collective pitch is applied.
AP_Float _yaw_scaler; // scaling factor applied to the yaw mixing
AP_Float _dcp_trim; // used to easily trim dcp axis
AP_Float _yaw_rev_expo; // yaw reverser smoothing exponent, for intermeshing mode only.
// internal variables
float _collective2_mid_pct = 0.0f; // collective mid parameter value for rear swashplate converted to 0 ~ 1 range
};