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AP_Motors: use scaled actuators for single and coax frames

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this allows for multiple servos with the same motor function
This commit is contained in:
Andrew Tridgell 2018-05-21 11:37:38 +10:00
parent a17979383d
commit 4e414c02f5
6 changed files with 45 additions and 70 deletions
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46
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -30,29 +30,19 @@ extern const AP_HAL::HAL& hal;
// init // init
void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_type) void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_type)
{ {
_servo1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1); // make sure 6 output channels are mapped
_servo2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2); for (uint8_t i=0; i<6; i++) {
_servo3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3); add_motor_num(CH_1+i);
_servo4 = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
if (!_servo1 || !_servo2 || !_servo3 || !_servo4) {
gcs().send_text(MAV_SEVERITY_ERROR, "MotorsCoax: unable to setup output channels");
// don't set initialised_ok
return;
} }
// set the motor_enabled flag so that the main ESC can be calibrated like other frame types // set the motor_enabled flag so that the main ESC can be calibrated like other frame types
motor_enabled[AP_MOTORS_MOT_5] = true; motor_enabled[AP_MOTORS_MOT_5] = true;
motor_enabled[AP_MOTORS_MOT_6] = true; motor_enabled[AP_MOTORS_MOT_6] = true;
// we set four servos to angle // setup actuator scaling
_servo1->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE); for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
_servo2->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE); SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), AP_MOTORS_COAX_SERVO_INPUT_RANGE);
_servo3->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE); }
_servo4->set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
// allow mapping of motors 5 and 6
add_motor_num(CH_5);
add_motor_num(CH_6);
// record successful initialisation if what we setup was the desired frame_class // record successful initialisation if what we setup was the desired frame_class
_flags.initialised_ok = (frame_class == MOTOR_FRAME_COAX); _flags.initialised_ok = (frame_class == MOTOR_FRAME_COAX);
@ -81,19 +71,18 @@ void AP_MotorsCoax::output_to_motors()
switch (_spool_mode) { switch (_spool_mode) {
case SHUT_DOWN: case SHUT_DOWN:
// sends minimum values out to the motors // sends minimum values out to the motors
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough, _servo1)); rc_write_angle(AP_MOTORS_MOT_1, _roll_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough, _servo2)); rc_write_angle(AP_MOTORS_MOT_2, _pitch_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough, _servo3)); rc_write_angle(AP_MOTORS_MOT_3, -_roll_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough, _servo4)); rc_write_angle(AP_MOTORS_MOT_4, -_pitch_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_5, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_6, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
break; break;
case SPIN_WHEN_ARMED: case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying // sends output to motors when armed but not flying
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[0], _servo1)); for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[1], _servo2)); rc_write_angle(AP_MOTORS_MOT_1+i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[2], _servo3)); }
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm());
break; break;
@ -101,10 +90,9 @@ void AP_MotorsCoax::output_to_motors()
case THROTTLE_UNLIMITED: case THROTTLE_UNLIMITED:
case SPOOL_DOWN: case SPOOL_DOWN:
// set motor output based on thrust requests // set motor output based on thrust requests
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1)); for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2)); rc_write_angle(AP_MOTORS_MOT_1+i, _actuator_out[i] * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3)); }
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_yt_ccw)); rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_yt_ccw));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_yt_cw)); rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_yt_cw));
break; break;

4
libraries/AP_Motors/AP_MotorsCoax.h
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@ -56,8 +56,4 @@ protected:
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_yt_ccw; float _thrust_yt_ccw;
float _thrust_yt_cw; float _thrust_yt_cw;
SRV_Channel *_servo1;
SRV_Channel *_servo2;
SRV_Channel *_servo3;
SRV_Channel *_servo4;
}; };

49
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -30,33 +30,20 @@ extern const AP_HAL::HAL& hal;
// init // init
void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame_type) void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame_type)
{ {
// set update rate for the 3 motors (but not the servo on channel 7) // make sure 6 output channels are mapped
set_update_rate(_speed_hz); for (uint8_t i=0; i<6; i++) {
add_motor_num(CH_1+i);
}
// set the motor_enabled flag so that the main ESC can be calibrated like other frame types // set the motor_enabled flag so that the main ESC can be calibrated like other frame types
motor_enabled[AP_MOTORS_MOT_5] = true; motor_enabled[AP_MOTORS_MOT_5] = true;
motor_enabled[AP_MOTORS_MOT_6] = true; motor_enabled[AP_MOTORS_MOT_6] = true;
_servo1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1); // setup actuator scaling
_servo2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2); for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
_servo3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3); SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo4 = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
if (!_servo1 || !_servo2 || !_servo3 || !_servo4) {
gcs().send_text(MAV_SEVERITY_ERROR, "MotorsSingle: unable to setup output channels");
// don't set initialised_ok
return;
} }
// we set four servos to angle
_servo1->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo2->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo3->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo4->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
// allow mapping of motors 5 and 6
add_motor_num(CH_5);
add_motor_num(CH_6);
// record successful initialisation if what we setup was the desired frame_class // record successful initialisation if what we setup was the desired frame_class
_flags.initialised_ok = (frame_class == MOTOR_FRAME_SINGLE); _flags.initialised_ok = (frame_class == MOTOR_FRAME_SINGLE);
} }
@ -87,19 +74,18 @@ void AP_MotorsSingle::output_to_motors()
switch (_spool_mode) { switch (_spool_mode) {
case SHUT_DOWN: case SHUT_DOWN:
// sends minimum values out to the motors // sends minimum values out to the motors
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough - _yaw_radio_passthrough, _servo1)); rc_write_angle(AP_MOTORS_MOT_1, _roll_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough - _yaw_radio_passthrough, _servo2)); rc_write_angle(AP_MOTORS_MOT_2, _pitch_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough - _yaw_radio_passthrough, _servo3)); rc_write_angle(AP_MOTORS_MOT_3, -_roll_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough - _yaw_radio_passthrough, _servo4)); rc_write_angle(AP_MOTORS_MOT_4, -_pitch_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_5, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_6, get_pwm_output_min()); rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
break; break;
case SPIN_WHEN_ARMED: case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying // sends output to motors when armed but not flying
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[0], _servo1)); for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[1], _servo2)); rc_write_angle(AP_MOTORS_MOT_1+i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[2], _servo3)); }
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm()); rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm());
break; break;
@ -107,10 +93,9 @@ void AP_MotorsSingle::output_to_motors()
case THROTTLE_UNLIMITED: case THROTTLE_UNLIMITED:
case SPOOL_DOWN: case SPOOL_DOWN:
// set motor output based on thrust requests // set motor output based on thrust requests
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1)); for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2)); rc_write_angle(AP_MOTORS_MOT_1+i, _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3)); }
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out)); rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out)); rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out));
break; break;

4
libraries/AP_Motors/AP_MotorsSingle.h
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@ -56,8 +56,4 @@ protected:
int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900 int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_out; float _thrust_out;
SRV_Channel *_servo1;
SRV_Channel *_servo2;
SRV_Channel *_servo3;
SRV_Channel *_servo4;
}; };

9
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -90,6 +90,15 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
SRV_Channels::set_output_pwm(function, pwm); SRV_Channels::set_output_pwm(function, pwm);
} }
/*
write to an output channel for an angle actuator
*/
void AP_Motors::rc_write_angle(uint8_t chan, int16_t angle_cd)
{
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(chan);
SRV_Channels::set_output_scaled(function, angle_cd);
}
/* /*
set frequency of a set of channels set frequency of a set of channels
*/ */

1
libraries/AP_Motors/AP_Motors_Class.h
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@ -165,6 +165,7 @@ protected:
// output functions that should be overloaded by child classes // output functions that should be overloaded by child classes
virtual void output_armed_stabilizing()=0; virtual void output_armed_stabilizing()=0;
virtual void rc_write(uint8_t chan, uint16_t pwm); virtual void rc_write(uint8_t chan, uint16_t pwm);
virtual void rc_write_angle(uint8_t chan, int16_t angle_cd);
virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz); virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz);
virtual uint32_t rc_map_mask(uint32_t mask) const; virtual uint32_t rc_map_mask(uint32_t mask) const;