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AP_Motors: Tradheli-incorporate DDFP for counter clockwise rotating rotors

This commit is contained in:
bnsgeyer 2019-12-09 23:05:35 -05:00 committed by Randy Mackay
parent e3c55bdfbb
commit 2a8e2d19fa
2 changed files with 17 additions and 11 deletions
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18
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -28,8 +28,8 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @Param: TAIL_TYPE
// @DisplayName: Tail Type
// @Description: Tail type selection. Simpler yaw controller used if external gyro is selected
// @Values: 0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch
// @Description: Tail type selection. Simpler yaw controller used if external gyro is selected. Direct Drive Variable Pitch is used for tails that have a motor that is governed at constant speed by an ESC. Tail pitch is still accomplished with a servo. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above. In both DDFP cases, no servo is used for the tail and the tail motor esc is controlled by the yaw axis.
// @Values: 0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch CW,4:DirectDrive FixedPitch CCW
// @User: Standard
AP_GROUPINFO("TAIL_TYPE", 4, AP_MotorsHeli_Single, _tail_type, AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO),
@ -488,7 +488,7 @@ void AP_MotorsHeli_Single::output_to_motors()
if (_swashplate.get_swash_type() == SWASHPLATE_TYPE_H4_90 || _swashplate.get_swash_type() == SWASHPLATE_TYPE_H4_45) {
rc_write_swash(AP_MOTORS_MOT_5, _servo5_out);
}
if (_tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
if (_tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
rc_write_angle(AP_MOTORS_MOT_4, _servo4_out * YAW_SERVO_MAX_ANGLE);
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
@ -500,18 +500,22 @@ void AP_MotorsHeli_Single::output_to_motors()
}
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
_servo4_out = -_servo4_out;
}
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
update_motor_control(ROTOR_CONTROL_STOP);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
rc_write_angle(AP_MOTORS_MOT_4, -YAW_SERVO_MAX_ANGLE);
}
break;
case SpoolState::GROUND_IDLE:
// sends idle output to motors when armed. rotor could be static or turning (autorotation)
update_motor_control(ROTOR_CONTROL_IDLE);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
rc_write_angle(AP_MOTORS_MOT_4, -YAW_SERVO_MAX_ANGLE);
}
break;
@ -519,7 +523,7 @@ void AP_MotorsHeli_Single::output_to_motors()
case SpoolState::THROTTLE_UNLIMITED:
// set motor output based on thrust requests
update_motor_control(ROTOR_CONTROL_ACTIVE);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
// constrain output so that motor never fully stops
_servo4_out = constrain_float(_servo4_out, -0.9f, 1.0f);
// output yaw servo to tail rsc
@ -529,7 +533,7 @@ void AP_MotorsHeli_Single::output_to_motors()
case SpoolState::SPOOLING_DOWN:
// sends idle output to motors and wait for rotor to stop
update_motor_control(ROTOR_CONTROL_IDLE);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
rc_write_angle(AP_MOTORS_MOT_4, -YAW_SERVO_MAX_ANGLE);
}
break;

10
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -14,10 +14,12 @@
#define AP_MOTORS_HELI_SINGLE_TAILRSC CH_7
// tail types
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO 0
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO 1
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH 2
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH 3
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO 0
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO 1
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH 2
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW 3
#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW 4
// direct-drive variable pitch defaults
#define AP_MOTORS_HELI_SINGLE_DDVP_SPEED_DEFAULT 50