AP_Motors: started on tailsitter support

libraries/AP_Motors/AP_Motors.h

@@ -7,3 +7,4 @@
 #include "AP_MotorsHeli_Single.h"
 #include "AP_MotorsSingle.h"
 #include "AP_MotorsCoax.h"
+#include "AP_MotorsTailsitter.h"

libraries/AP_Motors/AP_MotorsTailsitter.cpp

@@ -0,0 +1,89 @@
+/*
+   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
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ *       AP_MotorsTailsitter.cpp - ArduCopter motors library for tailsitters
+ *
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include "AP_MotorsTailsitter.h"
+#include <GCS_MAVLink/GCS.h>
+
+extern const AP_HAL::HAL& hal;
+
+#define SERVO_OUTPUT_RANGE  4500
+#define THROTTLE_RANGE       100
+
+// init
+void AP_MotorsTailsitter::init(motor_frame_class frame_class, motor_frame_type frame_type)
+{
+    // record successful initialisation if what we setup was the desired frame_class
+    _flags.initialised_ok = (frame_class == MOTOR_FRAME_TAILSITTER);
+}
+
+void AP_MotorsTailsitter::output_to_motors()
+{
+    if (!_flags.initialised_ok) {
+        return;
+    }
+    switch (_spool_mode) {
+        case SHUT_DOWN:
+            _aileron = 0;
+            _elevator = 0;
+            _rudder = 0;
+            _throttle = 0;
+            break;
+        case SPIN_WHEN_ARMED:
+            // sends output to motors when armed but not flying
+            _aileron = 0;
+            _elevator = 0;
+            _rudder = 0;
+            _throttle = constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
+            break;
+        case SPOOL_UP:
+        case THROTTLE_UNLIMITED:
+        case SPOOL_DOWN:
+            break;
+    }
+    // outputs are setup here, and written to the HAL by the plane servos loop
+    SRV_Channels::set_output_scaled(SRV_Channel::k_aileron,  _aileron*SERVO_OUTPUT_RANGE);
+    SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, _elevator*SERVO_OUTPUT_RANGE);
+    SRV_Channels::set_output_scaled(SRV_Channel::k_rudder,   _rudder*SERVO_OUTPUT_RANGE);
+    SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _throttle*THROTTLE_RANGE);
+}
+
+// calculate outputs to the motors
+void AP_MotorsTailsitter::output_armed_stabilizing()
+{
+    _aileron = -_yaw_in;
+    _elevator = _pitch_in;
+    _rudder = _roll_in;
+    _throttle = get_throttle();
+
+    // sanity check throttle is above zero and below current limited throttle
+    if (_throttle <= 0.0f) {
+        _throttle = 0.0f;
+        limit.throttle_lower = true;
+    }
+    if (_throttle >= _throttle_thrust_max) {
+        _throttle = _throttle_thrust_max;
+        limit.throttle_upper = true;
+    }
+
+    _throttle = constrain_float(_throttle, 0.1, 1);
+}
+

libraries/AP_Motors/AP_MotorsTailsitter.h

@@ -0,0 +1,45 @@
+/// @file	AP_MotorsTailsitter.h
+/// @brief	Motor control class for tailsitters
+#pragma once
+
+#include <AP_Common/AP_Common.h>
+#include <AP_Math/AP_Math.h>
+#include <SRV_Channel/SRV_Channel.h>
+#include "AP_MotorsMulticopter.h"
+
+/// @class      AP_MotorsTailsitter
+class AP_MotorsTailsitter : public AP_MotorsMulticopter {
+public:
+
+    /// Constructor
+    AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
+        AP_MotorsMulticopter(loop_rate, speed_hz)
+    {
+    };
+
+    // init
+    void init(motor_frame_class frame_class, motor_frame_type frame_type);
+
+    // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
+    void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) {}
+    void set_update_rate( uint16_t speed_hz ) {}
+    void enable() {}
+
+    void output_test(uint8_t motor_seq, int16_t pwm) {}
+
+    // output_to_motors - sends output to named servos
+    void output_to_motors();
+
+    // return 0 motor mask
+    uint16_t get_motor_mask() { return 0; }
+
+protected:
+    // calculate motor outputs
+    void output_armed_stabilizing();
+
+    // calculated outputs
+    float _aileron;  // -1..1
+    float _elevator; // -1..1
+    float _rudder;   // -1..1
+    float _throttle; // 0..1
+};

libraries/AP_Motors/AP_Motors_Class.h

@@ -35,7 +35,8 @@ public:
         MOTOR_FRAME_HELI = 6,
         MOTOR_FRAME_TRI = 7,
         MOTOR_FRAME_SINGLE = 8,
-        MOTOR_FRAME_COAX = 9
+        MOTOR_FRAME_COAX = 9,
+        MOTOR_FRAME_TAILSITTER = 10,
     };
     enum motor_frame_type {
         MOTOR_FRAME_TYPE_PLUS = 0,