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Copter: add FRAME_CLASS parameter

This commit is contained in:
Randy Mackay 2016-12-12 19:22:56 +09:00
parent a276f5dc90
commit 0ac00dbfd6
10 changed files with 91 additions and 79 deletions
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6
ArduCopter/ArduCopter.cpp
View File

@ -489,10 +489,10 @@ void Copter::one_hz_loop()
update_using_interlock();
#if FRAME_CONFIG != HELI_FRAME
// check the user hasn't updated the frame orientation
motors.set_frame_orientation(g.frame_orientation);
// check the user hasn't updated the frame class or type
motors.set_frame_class_and_type((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get());
#if FRAME_CONFIG != HELI_FRAME
// set all throttle channel settings
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif

31
ArduCopter/Copter.h
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@ -325,36 +325,11 @@ private:
uint8_t compass : 1; // true if compass is healthy
} sensor_health;
// setup FRAME_MAV_TYPE
#if (FRAME_CONFIG == QUAD_FRAME)
#define FRAME_MAV_TYPE MAV_TYPE_QUADROTOR
#elif (FRAME_CONFIG == TRI_FRAME)
#define FRAME_MAV_TYPE MAV_TYPE_TRICOPTER
#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
#define FRAME_MAV_TYPE MAV_TYPE_HEXAROTOR
#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
#define FRAME_MAV_TYPE MAV_TYPE_OCTOROTOR
#elif (FRAME_CONFIG == HELI_FRAME)
#define FRAME_MAV_TYPE MAV_TYPE_HELICOPTER
#elif (FRAME_CONFIG == SINGLE_FRAME || FRAME_CONFIG == COAX_FRAME) //because mavlink did not define a singlecopter, we use a quad
#define FRAME_MAV_TYPE MAV_TYPE_QUADROTOR
#else
#error Unrecognised frame type
#endif
// Motor Output
#if FRAME_CONFIG == QUAD_FRAME
#define MOTOR_CLASS AP_MotorsQuad
#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsMatrix
#elif FRAME_CONFIG == TRI_FRAME
#define MOTOR_CLASS AP_MotorsTri
#elif FRAME_CONFIG == HEXA_FRAME
#define MOTOR_CLASS AP_MotorsHexa
#elif FRAME_CONFIG == Y6_FRAME
#define MOTOR_CLASS AP_MotorsY6
#elif FRAME_CONFIG == OCTA_FRAME
#define MOTOR_CLASS AP_MotorsOcta
#elif FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsOctaQuad
#elif FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli_Single
#elif FRAME_CONFIG == SINGLE_FRAME
@ -1108,6 +1083,8 @@ private:
void update_auto_armed();
void check_usb_mux(void);
bool should_log(uint32_t mask);
uint8_t get_frame_mav_type();
const char* get_frame_string();
bool current_mode_has_user_takeoff(bool must_navigate);
bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
void takeoff_timer_start(float alt_cm);

6
ArduCopter/GCS_Mavlink.cpp
View File

@ -78,7 +78,7 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
// indicate we have set a custom mode
base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
gcs[chan-MAVLINK_COMM_0].send_heartbeat(FRAME_MAV_TYPE,
gcs[chan-MAVLINK_COMM_0].send_heartbeat(get_frame_mav_type(),
base_mode,
custom_mode,
system_status);
@ -892,7 +892,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
#if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
GCS_MAVLINK::send_statustext_chan(MAV_SEVERITY_INFO, chan, "Frame: %s", copter.get_frame_string());
handle_param_request_list(msg);
break;
}
@ -1457,7 +1457,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
send_text(MAV_SEVERITY_INFO, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
#endif
send_text(MAV_SEVERITY_INFO, "Frame: " FRAME_CONFIG_STRING);
GCS_MAVLINK::send_statustext_chan(MAV_SEVERITY_INFO, chan, "Frame: %s", copter.get_frame_string());
// send system ID if we can
char sysid[40];

11
ArduCopter/Log.cpp
View File

@ -903,9 +903,10 @@ const struct LogStructure Copter::log_structure[] = {
void Copter::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_page)
{
cliSerial->printf("\n" FIRMWARE_STRING
"\nFree RAM: %u\n"
"\nFrame: " FRAME_CONFIG_STRING "\n",
(unsigned) hal.util->available_memory());
"\nFree RAM: %u\n"
"\nFrame: %s\n",
(unsigned) hal.util->available_memory(),
get_frame_string());
cliSerial->println(HAL_BOARD_NAME);
@ -918,7 +919,9 @@ void Copter::Log_Read(uint16_t list_entry, uint16_t start_page, uint16_t end_pag
void Copter::Log_Write_Vehicle_Startup_Messages()
{
// only 200(?) bytes are guaranteed by DataFlash
DataFlash.Log_Write_Message("Frame: " FRAME_CONFIG_STRING);
char frame_buf[20];
sprintf(frame_buf, "Frame: %s", get_frame_string());
DataFlash.Log_Write_Message(frame_buf);
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
DataFlash.Log_Write_Rally(rally);
}

11
ArduCopter/Parameters.cpp
View File

@ -390,7 +390,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Description: Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B (New)
// @User: Standard
GSCALAR(frame_orientation, "FRAME", AP_MOTORS_X_FRAME),
GSCALAR(frame_orientation, "FRAME", AP_Motors::MOTOR_FRAME_TYPE_X),
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
@ -1043,6 +1043,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
AP_SUBGROUPINFO(beacon, "BCN", 14, ParametersG2, AP_Beacon),
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, 0),
AP_GROUPEND
};
@ -1168,7 +1175,7 @@ void Copter::convert_pid_parameters(void)
#if FRAME_CONFIG == QUAD_FRAME || FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME || FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME
// Multicopter x-frame gains are 40% lower because -1 or +1 input to motors now results in maximum rotation
if (g.frame_orientation == AP_MOTORS_X_FRAME || g.frame_orientation == AP_MOTORS_V_FRAME || g.frame_orientation == AP_MOTORS_H_FRAME) {
if (g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_X || g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_V || g.frame_orientation == AP_Motors::MOTOR_FRAME_TYPE_H) {
pid_scaler = 0.9f;
}
#endif

3
ArduCopter/Parameters.h
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@ -587,6 +587,9 @@ public:
// acro exponent parameters
AP_Float acro_y_expo;
AP_Float acro_thr_mid;
// frame class
AP_Int8 frame_class;
};
extern const AP_Param::Info var_info[];

22
ArduCopter/config.h
View File

@ -64,28 +64,6 @@
# define FRAME_CONFIG QUAD_FRAME
#endif
#if FRAME_CONFIG == QUAD_FRAME
# define FRAME_CONFIG_STRING "QUAD"
#elif FRAME_CONFIG == TRI_FRAME
# define FRAME_CONFIG_STRING "TRI"
#elif FRAME_CONFIG == HEXA_FRAME
# define FRAME_CONFIG_STRING "HEXA"
#elif FRAME_CONFIG == Y6_FRAME
# define FRAME_CONFIG_STRING "Y6"
#elif FRAME_CONFIG == OCTA_FRAME
# define FRAME_CONFIG_STRING "OCTA"
#elif FRAME_CONFIG == OCTA_QUAD_FRAME
# define FRAME_CONFIG_STRING "OCTA_QUAD"
#elif FRAME_CONFIG == HELI_FRAME
# define FRAME_CONFIG_STRING "HELI"
#elif FRAME_CONFIG == SINGLE_FRAME
# define FRAME_CONFIG_STRING "SINGLE"
#elif FRAME_CONFIG == COAX_FRAME
# define FRAME_CONFIG_STRING "COAX"
#else
# define FRAME_CONFIG_STRING "UNKNOWN"
#endif
/////////////////////////////////////////////////////////////////////////////////
// TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME

3
ArduCopter/radio.cpp
View File

@ -53,9 +53,8 @@ void Copter::init_rc_in()
void Copter::init_rc_out()
{
motors.set_update_rate(g.rc_speed);
motors.set_frame_orientation(g.frame_orientation);
motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.Init(); // motor initialisation
motors.init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_orientation.get());
#if FRAME_CONFIG != HELI_FRAME
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif

15
ArduCopter/setup.cpp
View File

@ -316,20 +316,7 @@ void Copter::report_frame()
{
cliSerial->println("Frame");
print_divider();
#if FRAME_CONFIG == QUAD_FRAME
cliSerial->println("Quad frame");
#elif FRAME_CONFIG == TRI_FRAME
cliSerial->println("TRI frame");
#elif FRAME_CONFIG == HEXA_FRAME
cliSerial->println("Hexa frame");
#elif FRAME_CONFIG == Y6_FRAME
cliSerial->println("Y6 frame");
#elif FRAME_CONFIG == OCTA_FRAME
cliSerial->println("Octa frame");
#elif FRAME_CONFIG == HELI_FRAME
cliSerial->println("Heli frame");
#endif
cliSerial->println(get_frame_string());
print_blanks(2);
}

62
ArduCopter/system.cpp
View File

@ -157,8 +157,10 @@ void Copter::init_ardupilot()
#if FRSKY_TELEM_ENABLED == ENABLED
// setup frsky, and pass a number of parameters to the library
frsky_telemetry.init(serial_manager, FIRMWARE_STRING " " FRAME_CONFIG_STRING,
FRAME_MAV_TYPE,
char firmware_buf[40];
sprintf(firmware_buf, FIRMWARE_STRING " %s", get_frame_string());
frsky_telemetry.init(serial_manager, firmware_buf,
get_frame_mav_type(),
&g.fs_batt_voltage, &g.fs_batt_mah, &ap.value);
#endif
@ -457,3 +459,59 @@ bool Copter::should_log(uint32_t mask)
return false;
#endif
}
// return MAV_TYPE corresponding to frame class
uint8_t Copter::get_frame_mav_type()
{
switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
case AP_Motors::MOTOR_FRAME_QUAD:
return MAV_TYPE_QUADROTOR;
case AP_Motors::MOTOR_FRAME_HEXA:
case AP_Motors::MOTOR_FRAME_Y6:
return MAV_TYPE_HEXAROTOR;
case AP_Motors::MOTOR_FRAME_OCTA:
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
return MAV_TYPE_OCTOROTOR;
case AP_Motors::MOTOR_FRAME_HELI:
return MAV_TYPE_HELICOPTER;
case AP_Motors::MOTOR_FRAME_TRI:
return MAV_TYPE_TRICOPTER;
case AP_Motors::MOTOR_FRAME_SINGLE:
case AP_Motors::MOTOR_FRAME_COAX:
return MAV_TYPE_COAXIAL;
case AP_Motors::MOTOR_FRAME_UNDEFINED:
default:
return MAV_TYPE_GENERIC;
}
// we should never get this far
return MAV_TYPE_GENERIC;
}
// return string corresponding to frame_class
const char* Copter::get_frame_string()
{
switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
case AP_Motors::MOTOR_FRAME_QUAD:
return "QUAD";
case AP_Motors::MOTOR_FRAME_HEXA:
return "HEXA";
case AP_Motors::MOTOR_FRAME_Y6:
return "Y6";
case AP_Motors::MOTOR_FRAME_OCTA:
return "OCTA";
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
return "OCTA_QUAD";
case AP_Motors::MOTOR_FRAME_HELI:
return "HELI";
case AP_Motors::MOTOR_FRAME_TRI:
return "TRI";
case AP_Motors::MOTOR_FRAME_SINGLE:
return "SINGLE";
case AP_Motors::MOTOR_FRAME_COAX:
return "COAX";
case AP_Motors::MOTOR_FRAME_UNDEFINED:
default:
return "UNKNOWN";
}
}