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AP_Motors: Move DDFP thrust linearization params into sub group

This commit is contained in:
bnsgeyer 2023-06-02 23:30:17 -04:00 committed by Bill Geyer
parent 270c6a2028
commit 1e521d1a5d
4 changed files with 64 additions and 9 deletions
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9
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -142,28 +142,24 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @Description: Tail rotor DDFP motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
// @Range: -1 1
// @User: Standard
AP_GROUPINFO("DDFP_THST_EXPO", 22, AP_MotorsHeli_Single, thr_lin.curve_expo, 0.55),
// @Param: DDFP_SPIN_MIN
// @DisplayName: DDFP Tail Rotor Motor Spin minimum
// @Description: Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.
// @Values: 0.0:Low, 0.15:Default, 0.3:High
// @User: Standard
AP_GROUPINFO("DDFP_SPIN_MIN", 23, AP_MotorsHeli_Single, thr_lin.spin_min, 0.15),
// @Param: DDFP_SPIN_MAX
// @DisplayName: DDFP Tail Rotor Motor Spin maximum
// @Description: Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
// @Values: 0.9:Low, 0.95:Default, 1.0:High
// @User: Standard
AP_GROUPINFO("DDFP_SPIN_MAX", 24, AP_MotorsHeli_Single, thr_lin.spin_max, 0.95),
// @Param: DDFP_BAT_IDX
// @DisplayName: DDFP Tail Rotor Battery compensation index
// @Description: Which battery monitor should be used for doing compensation
// @Values: 0:First battery, 1:Second battery
// @User: Standard
AP_GROUPINFO("DDFP_BAT_IDX", 25, AP_MotorsHeli_Single, thr_lin.batt_idx, 0),
// @Param: DDFP_BAT_V_MAX
// @DisplayName: Battery voltage compensation maximum voltage
@ -171,7 +167,6 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @Range: 6 53
// @Units: V
// @User: Standard
AP_GROUPINFO("DDFP_BAT_V_MAX", 26, AP_MotorsHeli_Single, thr_lin.batt_voltage_max, AP_MOTORS_HELI_SINGLE_BAT_VOLT_MAX_DEFAULT),
// @Param: DDFP_BAT_V_MIN
// @DisplayName: Battery voltage compensation minimum voltage
@ -179,7 +174,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @Range: 6 42
// @Units: V
// @User: Standard
AP_GROUPINFO("DDFP_BAT_V_MIN", 27, AP_MotorsHeli_Single, thr_lin.batt_voltage_min, AP_MOTORS_HELI_SINGLE_BAT_VOLT_MIN_DEFAULT),
AP_SUBGROUPINFO(thr_lin, "DDFP_", 22, AP_MotorsHeli_Single, Thrust_Linearization),
AP_GROUPEND
};
@ -608,6 +603,8 @@ void AP_MotorsHeli_Single::output_to_motors()
} else {
// if servo pwm min and max are bad, convert servo4_out from -1 to 1 to 0 to 1
servo_out = 0.5f * (_servo4_out + 1.0f);
// this should never happen
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
// output yaw servo to tail rsc
rc_write(AP_MOTORS_MOT_4, calculate_ddfp_output(thr_lin.thrust_to_actuator(constrain_float(servo_out, 0.0f, 1.0f))));

3
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -35,9 +35,6 @@
// maximum number of swashplate servos
#define AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS 3
#define AP_MOTORS_HELI_SINGLE_BAT_VOLT_MAX_DEFAULT 0.0f // voltage limiting max default
#define AP_MOTORS_HELI_SINGLE_BAT_VOLT_MIN_DEFAULT 0.0f // voltage limiting min default (voltage dropping below this level will have no effect)
/// @class AP_MotorsHeli_Single
class AP_MotorsHeli_Single : public AP_MotorsHeli {
public:

52
libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
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@ -16,6 +16,56 @@
#endif
#endif
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo Thrust_Linearization::var_info[] = {
// @Param: THST_EXPO
// @DisplayName: Thrust Curve Expo
// @Description: motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
// @Range: -1 1
// @User: Standard
AP_GROUPINFO("THST_EXPO", 1, Thrust_Linearization, curve_expo, THRST_LIN_THST_EXPO_DEFAULT),
// @Param: SPIN_MIN
// @DisplayName: Motor Spin minimum
// @Description: Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.
// @Values: 0.0:Low, 0.15:Default, 0.3:High
// @User: Standard
AP_GROUPINFO("SPIN_MIN", 2, Thrust_Linearization, spin_min, THRST_LIN_SPIN_MIN_DEFAULT),
// @Param: SPIN_MAX
// @DisplayName: Motor Spin maximum
// @Description: Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
// @Values: 0.9:Low, 0.95:Default, 1.0:High
// @User: Standard
AP_GROUPINFO("SPIN_MAX", 3, Thrust_Linearization, spin_max, THRST_LIN_SPIN_MAX_DEFAULT),
// @Param: BAT_IDX
// @DisplayName: Battery compensation index
// @Description: Which battery monitor should be used for doing compensation
// @Values: 0:First battery, 1:Second battery
// @User: Standard
AP_GROUPINFO("BAT_IDX", 4, Thrust_Linearization, batt_idx, 0),
// @Param: BAT_V_MAX
// @DisplayName: Battery voltage compensation maximum voltage
// @Description: Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled
// @Range: 6 53
// @Units: V
// @User: Standard
AP_GROUPINFO("BAT_V_MAX", 5, Thrust_Linearization, batt_voltage_max, THRST_LIN_BAT_VOLT_MAX_DEFAULT),
// @Param: BAT_V_MIN
// @DisplayName: Battery voltage compensation minimum voltage
// @Description: Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled
// @Range: 6 42
// @Units: V
// @User: Standard
AP_GROUPINFO("BAT_V_MIN", 6, Thrust_Linearization, batt_voltage_min, THRST_LIN_BAT_VOLT_MIN_DEFAULT),
AP_GROUPEND
};
Thrust_Linearization::Thrust_Linearization(AP_Motors& _motors) :
motors(_motors),
@ -24,6 +74,8 @@ Thrust_Linearization::Thrust_Linearization(AP_Motors& _motors) :
// setup battery voltage filtering
batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
batt_voltage_filt.reset(1.0);
AP_Param::setup_object_defaults(this, var_info);
}
// converts desired thrust to linearized actuator output in a range of 0~1

9
libraries/AP_Motors/AP_Motors_Thrust_Linearization.h
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@ -3,6 +3,12 @@
#include <AP_Param/AP_Param.h>
#include <Filter/LowPassFilter.h>
#define THRST_LIN_THST_EXPO_DEFAULT 0.55f // set to 0 for linear and 1 for second order approximation
#define THRST_LIN_SPIN_MIN_DEFAULT 0.15f // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_SPIN_MAX_DEFAULT 0.95f // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define THRST_LIN_BAT_VOLT_MAX_DEFAULT 0.0f // voltage limiting max default
#define THRST_LIN_BAT_VOLT_MIN_DEFAULT 0.0f // voltage limiting min default (voltage dropping below this level will have no effect)
class AP_Motors;
class Thrust_Linearization {
friend class AP_MotorsMulticopter;
@ -44,6 +50,9 @@ public:
// Get lift max
float get_lift_max() const { return lift_max; }
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
AP_Float curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation
AP_Float spin_min; // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range