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introducing flight frames and mixer tables, work

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@977 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-11-28 17:20:16 +00:00
parent 4ddf743cae
commit 14f500a688
5 changed files with 358 additions and 11 deletions
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14
ArducopterNG/Arducopter.h
View File

@ -462,6 +462,20 @@ unsigned long elapsedTime = 0; // for doing custom events
#define MODE3 3
#define MODE4 4
// Frame models
#define QUAD 0 // Normal Quad
#define QUADCOAX 1 // Quad with double motors as coax
#define HEXA 2 // Hexa
#define HEXARADIAL 3
#define HEXACOAX 4
#define OCTO 5
#define PWM 0
#define I2C 1
#define UART 2
// Following variables stored in EEPROM
float KP_QUAD_ROLL;
float KI_QUAD_ROLL;

25
ArducopterNG/ArducopterNG.pde
View File

@ -74,6 +74,31 @@
//#define GPSDEVICE GPSDEV_NMEA // For general NMEA compatible GPSEs
//#dedine GPSDEVICE GPSDEV_IMU // For IMU Simulations only
////////////////////////////////////////
// Frame / Motor / ESC definitions
// Introducing new frame / Motor / ESC definitions for future expansion. Currently these are not in
// use but they need to be here so implementation work can continue.
// New frame model definitions. (not in use yet, 28-11-10 jp)
#define FRAME_MODEL QUAD // Quad frame model
//#define FRAME_MODEL HEXA // Quad frame model
//#define FRAME_MODEL OCTO // Quad frame model
// New motor definition for different frame type (not in use yet, 28-11-10 jp)
#define MAX_MOTORS 4 // Are we using more motors than 4, possible choises are 4, 6, 8
// This has to be on main .pde to get included on all other header etc files
// Not in use yet, 28-11-10 jp
#define MOTORTYPE PWM // Traditional PWM ESC's controlling motors
//#define MOTORTYPE I2C // I2C style ESC's controlling motors
//#define MOTORTYPE UART // UART style ESC's controlling motors
////////////////////
// Serial ports & speeds

13
ArducopterNG/CLI.pde
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@ -226,18 +226,27 @@ void CALIB_AccOffset() {
xx = xx / (loopy - 1);
xy = xy / (loopy - 1);
xz = xz / (loopy - 1) ;
xz = xz / (loopy - 1);
xz += 500; // Z-Axis correction
SerPriln("Averages as follows");
SerPri(" ");
tab();
SerPri(xx);
tab();
SerPri(xy);
tab();
SerPri(xz);
SerPriln();
acc_offset_y = xy;
acc_offset_x = xx;
acc_offset_z = xz;
AN_OFFSET[3] = acc_offset_x;
AN_OFFSET[4] = acc_offset_y;
AN_OFFSET[5] = acc_offset_z;
}

310
ArducopterNG/Mixer.pde
View File

@ -6,9 +6,9 @@
File : Mixer.pde
Version : v1.0, Aug 27, 2010
Author(s): ArduCopter Team
Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
Jani Hirvinen, Ken McEwans, Roberto Navoni,
Sandro Benigno, Chris Anderson
Jose Julio, Jordi Muñoz,
Jani Hirvinen, Roberto Navoni,
Sandro Benigno, Chris Anderson
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -22,13 +22,307 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
* ************************************************************** *
ChangeLog:
* ************************************************************** *
TODO:
* ************************************************************** */
#ifdef USEMIXER
* ************************************************************** *
ChangeLog:
#include <stdlib.h>
float MotorPitch[MAX_MOTORS];
float MotorRoll[MAX_MOTORS];
float MotorYaw[MAX_MOTORS];
float MotorGas[MAX_MOTORS];
float motorAxisCommandPitch[MAX_MOTORS];
float motorAxisCommandRoll[MAX_MOTORS];
float motorAxisCommandYaw[MAX_MOTORS];
//float motorAxisCommand[3]; // Command on Roll YAW PITCH Recived from IMU
* ************************************************************** *
TODO:
#if FRAME_MODEL == QUAD
// This is an example of QuadX configuration for mixertable
void init_mixer_table()
{
// Example for Quad configuration
MotorGas[0] = 100;
MotorPitch[0] = -100;
MotorRoll[0] = 100;
MotorYaw[0] = 100;
MotorGas[1] = 100;
MotorPitch[1] = 100;
MotorRoll[1] = -100;
MotorYaw[1] = 100;
MotorGas[2] = 100;
MotorPitch[2] = -100;
MotorRoll[2] = -100;
MotorYaw[2] = -100;
MotorGas[3] = 100;
MotorPitch[3] = 100;
MotorRoll[3] = 100;
MotorYaw[3] = -100;
}
#elif FRAME_MODEL == HEXA
void init_mixer_table()
{
// Hexa configuration
MotorPitch[0] = -100;
MotorRoll[0] = 0;
MotorYaw[0] = 100;
MotorPitch[1] = -50;
MotorRoll[1] = -100;
MotorYaw[1] = -100;
MotorPitch[2] = +50;
MotorRoll[2] = -100;
MotorYaw[2] = 100;
MotorPitch[3] = +100;
MotorRoll[3] = 0;
MotorYaw[3] = -100;
* ************************************************************** */
MotorPitch[4] = +50;
MotorRoll[4] = 100;
MotorYaw[4] = 100;
MotorPitch[5] = -50;
MotorRoll[5] = 100;
MotorYaw[5] = -100;
}
#elif FRAME_MODEL == HEXARADIAL
void init_mixer_table()
{
// Example for Hexa configuration
MotorGas[0] = 100;
MotorPitch[0] = -100;
MotorRoll[0] = 0;
MotorYaw[0] = 100;
MotorGas[1] = 100;
MotorPitch[1] = -50;
MotorRoll[1] = -100;
MotorYaw[1] = -100;
MotorGas[2] = 100;
MotorPitch[2] = +50;
MotorRoll[2] = -100;
MotorYaw[2] = 100;
MotorGas[3] = 100;
MotorPitch[3] = +100;
MotorRoll[3] = 0;
MotorYaw[3] = -100;
MotorGas[4] = 100;
MotorPitch[4] = +50;
MotorRoll[4] = 100;
MotorYaw[4] = 100;
MotorGas[5] = 100;
MotorPitch[5] = -50;
MotorRoll[5] = 100;
MotorYaw[5] = -100;
}
#elif FRAME_MODEL == HEXACOAXIAL
void init_mixer_table()
{
// Example for Hexa configuration
MotorGas[0] = 95;
MotorPitch[0] = 100;
MotorRoll[0] = 0;
MotorYaw[0] = 100;
MotorGas[1] = 100;
MotorPitch[1] = 100;
MotorRoll[1] = 0;
MotorYaw[1] = -100;
MotorGas[2] = 95;
MotorPitch[2] = -50;
MotorRoll[2] = 100;
MotorYaw[2] = -100;
MotorGas[3] = 100;
MotorPitch[3] = -50;
MotorRoll[3] = 100;
MotorYaw[3] = 100;
MotorGas[4] = 95;
MotorPitch[4] = -50;
MotorRoll[4] = -100;
MotorYaw[4] = -100;
MotorGas[5] = 100;
MotorPitch[5] = -50;
MotorRoll[5] = -100;
MotorYaw[5] = 100;
}
#elif FRAME_MODEL == OCTO
void init_mixer_table()
{
// Octo configuration. Motors are numberd CW viewed from above starting at front = 1 (CW prop rotation)
// Motor rotation is CCW for odd numbered motors
MotorGas[0] = 100;
MotorPitch[0] = 100;
MotorRoll[0] = 0;
MotorYaw[0] = -100;
MotorGas[1] = 100;
MotorPitch[1] = 100;
MotorRoll[1] = -100;
MotorYaw[1] = 100;
MotorGas[2] = 100;
MotorPitch[2] = 0;
MotorRoll[2] = -100;
MotorYaw[2] = -100;
MotorGas[3] = 100;
MotorPitch[3] = -100;
MotorRoll[3] = -100;
MotorYaw[3] = 100;
MotorGas[4] = 100;
MotorPitch[4] = -100;
MotorRoll[4] = 0;
MotorYaw[4] = -100;
MotorGas[5] = 100;
MotorPitch[5] = -100;
MotorRoll[5] = 100;
MotorYaw[5] = 100;
MotorGas[6] = 100;
MotorPitch[6] = 0;
MotorRoll[6] = 100;
MotorYaw[6] = -100;
MotorGas[7] = 100;
MotorPitch[7] = 100;
MotorRoll[7] = 100;
MotorYaw[7] = 100;
}
#else
# error You need define your frame configuration on ArduUser.h
#endif
void motor_axis_correction()
{
int i;
for (i=0;i<MAX_MOTORS;i++)
{
motorAxisCommandPitch[i] = (control_pitch / 100.0) * MotorPitch[i];
motorAxisCommandRoll[i] = (control_roll / 100.0) * MotorRoll[i];
motorAxisCommandYaw[i] = (control_yaw / 100.0) * MotorYaw[i];
}
}
//After that we can mix them together:
void motor_matrix_command()
{
int i;
float valuemotor;
for (i=0;i<MAX_MOTORS;i++)
{
valuemotor = ((ch_throttle* MotorGas[i])/100) + motorAxisCommandPitch[i] + motorAxisCommandYaw[i] + motorAxisCommandRoll[i];
//valuemotor = Throttle + motorAxisCommandPitch[i] + motorAxisCommandYaw[i] + motorAxisCommandRoll[i]; // OLD VERSION WITHOUT GAS CONOL ON Mixertable
valuemotor = constrain(valuemotor, 1000, 2000);
motorCommand[i]=valuemotor;
}
}
void matrix_debug()
{
Serial.println();
Serial.println("--------------------------");
Serial.println(" Motori Mixertable " );
Serial.println("--------------------------");
Serial.println();
Serial.println("--------------------------");
Serial.println(" Quad Motor Debug " );
Serial.println("--------------------------");
Serial.print("AIL:");
Serial.print(ch_roll);
Serial.print(" ELE:");
Serial.print(ch_pitch);
Serial.print(" THR:");
Serial.print( ch_throttle);
Serial.print(" YAW:");
Serial.print( ch_yaw);
Serial.print(" AUX:");
Serial.print(ch_aux);
Serial.print(" AUX2:");
Serial.print(ch_aux2);
Serial.println();
Serial.print("CONTROL_ROLL:");
Serial.print(control_roll);
Serial.print(" CONTROL_PITCH:");
Serial.print(control_pitch);
Serial.print(" CONTROL_YAW:");
Serial.print(control_yaw);
Serial.print(" SONAR_VALUE:");
// Serial.print(sonar_value);
// Serial.print(" TARGET_SONAR_VALUE:");
// Serial.print(target_sonar_altitude);
// Serial.print(" ERR_SONAR_VALUE:");
// Serial.print(err_altitude);
// Serial.println();
// Serial.print("latitude:");
// Serial.print(GPS_np.Lattitude);
// Serial.print(" longitude:");
// Serial.print(GPS_np.Longitude);
Serial.print(" command gps roll:");
Serial.print(command_gps_roll);
Serial.print(" command gps pitch:");
Serial.print(command_gps_pitch);
// Serial.print(" Lon_diff:");
// Serial.print(Lon_diff);
// Serial.print(" Lon_diff");
// Serial.print(command_gps_pitch);
Serial.println();
Serial.print("AP MODE:");
Serial.print((int)AP_mode);
Serial.println();
#ifdef HEXARADIAL
Serial.println();
Serial.print((unsigned int)MotorI2C[5]);
comma();
Serial.print((unsigned int)MotorI2C[0]);
comma();
Serial.print((unsigned int)MotorI2C[1]);
comma();
Serial.println();
Serial.print((unsigned int)MotorI2C[4]);
comma();
Serial.print((unsigned int)MotorI2C[3]);
comma();
Serial.println((unsigned int)MotorI2C[2]);
Serial.println("---------------");
Serial.println();
#endif
}
#endif // usemixer

7
ArducopterNG/Motors.pde
View File

@ -74,6 +74,7 @@ void motor_output()
command_rx_yaw = ToDeg(yaw);
}
//#if MOTORTYPE == PWM
// Send commands to motors
APM_RC.OutputCh(0, rightMotor);
APM_RC.OutputCh(1, leftMotor);
@ -83,7 +84,11 @@ void motor_output()
// InstantPWM => Force inmediate output on PWM signals
APM_RC.Force_Out0_Out1();
APM_RC.Force_Out2_Out3();
//#elif MOTORTYPE == I2C
//#else
//# error You need to define your motor type on ArduUder.pde file
//#endif
}