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ArduCopter - add includes for new AP_Motors classes.

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Remove global motor_filtered and motor_out arrays.
Removed all global heli variables.
replace "motor_armed" with "motors.armed()"
removed output to rc_4 for tri because this is now handled by AP_MotorsTri class
This commit is contained in:
rmackay9 2012-04-04 22:50:43 +09:00
parent eecadef7dc
commit 544237d60a
1 changed files with 63 additions and 39 deletions
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102
ArduCopter/ArduCopter.pde
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@ -77,6 +77,15 @@ http://code.google.com/p/ardupilot-mega/downloads/list
#include <APM_PI.h> // PI library #include <APM_PI.h> // PI library
#include <AC_PID.h> // PID library #include <AC_PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library #include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h> // AP Motors library
#include <AP_MotorsQuad.h> // AP Motors library for Quad
#include <AP_MotorsTri.h> // AP Motors library for Tri
#include <AP_MotorsHexa.h> // AP Motors library for Hexa
#include <AP_MotorsY6.h> // AP Motors library for Y6
#include <AP_MotorsOcta.h> // AP Motors library for Octa
#include <AP_MotorsOctaQuad.h> // AP Motors library for OctaQuad
#include <AP_MotorsHeli.h> // AP Motors library for Heli
#include <AP_MotorsMatrix.h> // AP Motors library for Heli
#include <AP_RangeFinder.h> // Range finder library #include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library #include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h> // Filter library #include <Filter.h> // Filter library
@ -362,11 +371,46 @@ static byte old_control_mode = STABILIZE;
// Motor Output // Motor Output
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// This is the array of PWM values being sent to the motors // This is the array of PWM values being sent to the motors
static int16_t motor_out[11]; //static int16_t motor_out[11];
// This is the array of PWM values being sent to the motors that has been lightly filtered with a simple LPF // This is the array of PWM values being sent to the motors that has been lightly filtered with a simple LPF
// This was added to try and deal with biger motors // This was added to try and deal with biger motors
static int16_t motor_filtered[11]; //static int16_t motor_filtered[11];
#if FRAME_CONFIG == QUAD_FRAME
#define MOTOR_CLASS AP_MotorsQuad
#endif
#if FRAME_CONFIG == TRI_FRAME
#define MOTOR_CLASS AP_MotorsTri
#endif
#if FRAME_CONFIG == HEXA_FRAME
#define MOTOR_CLASS AP_MotorsHexa
#endif
#if FRAME_CONFIG == Y6_FRAME
#define MOTOR_CLASS AP_MotorsY6
#endif
#if FRAME_CONFIG == OCTA_FRAME
#define MOTOR_CLASS AP_MotorsOcta
#endif
#if FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsOctaQuad
#endif
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
#endif
#else
#if INSTANT_PWM == 1
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, AP_MOTORS_SPEED_INSTANT_PWM); // this hardware definition is slightly bad because it assumes APM_HARDWARE_APM2 == AP_MOTORS_APM2
#else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
#endif
#endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Mavlink/HIL control // Mavlink/HIL control
@ -379,30 +423,12 @@ static bool rc_override_active = false;
// Status flag that tracks whether we are under GCS control // Status flag that tracks whether we are under GCS control
static uint32_t rc_override_fs_timer = 0; static uint32_t rc_override_fs_timer = 0;
////////////////////////////////////////////////////////////////////////////////
// Heli
////////////////////////////////////////////////////////////////////////////////
#if FRAME_CONFIG == HELI_FRAME
static float heli_rollFactor[3], heli_pitchFactor[3], heli_collectiveFactor[3]; // only required for 3 swashplate servos
static int16_t heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly
static int32_t heli_servo_out[4]; // used for servo averaging for analog servos
static int16_t heli_servo_out_count; // use for servo averaging
#endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Failsafe // Failsafe
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// A status flag for the failsafe state // A status flag for the failsafe state
// did our throttle dip below the failsafe value? // did our throttle dip below the failsafe value?
static boolean failsafe; static boolean failsafe;
// A status flag for arming the motors. This is the arming that is performed when the
// Yaw control is held right or left while throttle is low.
static boolean motor_armed;
// A status flag for whether or not we should allow AP to take over copter
// This is tied to the throttle. If the throttle = 0 or low/nuetral, then we do not allow
// the APM to take control of the copter.
static boolean motor_auto_armed;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// PIDs // PIDs
@ -948,9 +974,6 @@ static void fast_loop()
// ------------------------------ // ------------------------------
set_servos_4(); set_servos_4();
//if(motor_armed)
//Log_Write_Attitude();
// agmatthews - USERHOOKS // agmatthews - USERHOOKS
#ifdef USERHOOK_FASTLOOP #ifdef USERHOOK_FASTLOOP
USERHOOK_FASTLOOP USERHOOK_FASTLOOP
@ -1026,7 +1049,7 @@ static void medium_loop()
// ----------------------------- // -----------------------------
update_navigation(); update_navigation();
if (g.log_bitmask & MASK_LOG_NTUN && motor_armed){ if (g.log_bitmask & MASK_LOG_NTUN && motors.armed()){
Log_Write_Nav_Tuning(); Log_Write_Nav_Tuning();
} }
} }
@ -1060,7 +1083,7 @@ static void medium_loop()
} }
} }
if(motor_armed){ if(motors.armed()){
if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) if (g.log_bitmask & MASK_LOG_ATTITUDE_MED)
Log_Write_Attitude(); Log_Write_Attitude();
@ -1149,22 +1172,16 @@ static void fifty_hz_loop()
camera_stabilization(); camera_stabilization();
# if HIL_MODE == HIL_MODE_DISABLED # if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motor_armed) if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed())
Log_Write_Attitude(); Log_Write_Attitude();
if (g.log_bitmask & MASK_LOG_RAW && motor_armed) if (g.log_bitmask & MASK_LOG_RAW && motors.armed())
Log_Write_Raw(); Log_Write_Raw();
#endif #endif
// kick the GCS to process uplink data // kick the GCS to process uplink data
gcs_update(); gcs_update();
gcs_data_stream_send(); gcs_data_stream_send();
#if FRAME_CONFIG == TRI_FRAME
// servo Yaw
g.rc_4.calc_pwm();
APM_RC.OutputCh(CH_TRI_YAW, g.rc_4.radio_out);
#endif
} }
@ -1190,6 +1207,12 @@ static void slow_loop()
} }
#endif #endif
} }
// check the user hasn't updated the frame orientation
if( !motors.armed() ) {
motors.set_frame_orientation(g.frame_orientation);
}
break; break;
case 1: case 1:
@ -1235,7 +1258,7 @@ static void slow_loop()
// 1Hz loop // 1Hz loop
static void super_slow_loop() static void super_slow_loop()
{ {
if (g.log_bitmask & MASK_LOG_CUR && motor_armed) if (g.log_bitmask & MASK_LOG_CUR && motors.armed())
Log_Write_Current(); Log_Write_Current();
// this function disarms the copter if it has been sitting on the ground for any moment of time greater than 30s // this function disarms the copter if it has been sitting on the ground for any moment of time greater than 30s
@ -1381,7 +1404,7 @@ static void update_GPS(void)
current_loc.lng = g_gps->longitude; // Lon * 10 * *7 current_loc.lng = g_gps->longitude; // Lon * 10 * *7
current_loc.lat = g_gps->latitude; // Lat * 10 * *7 current_loc.lat = g_gps->latitude; // Lat * 10 * *7
if (g.log_bitmask & MASK_LOG_GPS && motor_armed){ if (g.log_bitmask & MASK_LOG_GPS && motors.armed()){
Log_Write_GPS(); Log_Write_GPS();
} }
@ -1664,7 +1687,8 @@ void update_throttle_mode(void)
update_throttle_cruise(); update_throttle_cruise();
} }
if(motor_auto_armed == true){ // 10hz, don't run up i term
if( motors.auto_armed() == true ){
// how far off are we // how far off are we
altitude_error = get_altitude_error(); altitude_error = get_altitude_error();
@ -1972,7 +1996,7 @@ static void update_altitude_est()
update_altitude(); update_altitude();
alt_sensor_flag = false; alt_sensor_flag = false;
if(g.log_bitmask & MASK_LOG_CTUN && motor_armed){ if(g.log_bitmask & MASK_LOG_CTUN && motors.armed()){
Log_Write_Control_Tuning(); Log_Write_Control_Tuning();
} }
@ -2067,7 +2091,7 @@ static void tuning(){
break; break;
case CH6_TOP_BOTTOM_RATIO: case CH6_TOP_BOTTOM_RATIO:
g.top_bottom_ratio = tuning_value; motors.top_bottom_ratio = tuning_value;
break; break;
case CH6_RELAY: case CH6_RELAY:
@ -2116,7 +2140,7 @@ static void tuning(){
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO: case CH6_HELI_EXTERNAL_GYRO:
g.heli_ext_gyro_gain = tuning_value; motors.ext_gyro_gain = tuning_value;
break; break;
#endif #endif