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AP_Motors: Creation of AP_Motors_Multirotor class

This commit is contained in:
Robert Lefebvre 2015-07-02 17:15:09 -04:00 committed by Randy Mackay
parent 0ecebbd55f
commit 61d6c5aa1d
12 changed files with 572 additions and 482 deletions
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4
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -29,9 +29,9 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsCoax::var_info[] PROGMEM = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Motors, 0),
AP_NESTEDGROUPINFO(AP_Motors_Multirotor, 0),
// parameters 1 ~ 29 reserved for tradheli
// parameters 1 ~ 29 were reserved for tradheli
// parameters 30 ~ 39 reserved for tricopter
// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)

6
libraries/AP_Motors/AP_MotorsCoax.h
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@ -9,7 +9,7 @@
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h> // RC Channel Library
#include "AP_Motors.h"
#include "AP_Motors_Multirotor.h"
// feedback direction
#define AP_MOTORS_COAX_POSITIVE 1
@ -21,12 +21,12 @@
#define AP_MOTORS_COAX_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
/// @class AP_MotorsSingle
class AP_MotorsCoax : public AP_Motors {
class AP_MotorsCoax : public AP_Motors_Multirotor {
public:
/// Constructor
AP_MotorsCoax(RC_Channel& servo1, RC_Channel& servo2, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(loop_rate, speed_hz),
AP_Motors_Multirotor(loop_rate, speed_hz),
_servo1(servo1),
_servo2(servo2)
{

2
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -26,8 +26,6 @@
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Motors, 0),
// @Param: SV1_POS
// @DisplayName: Servo 1 Position

6
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -9,18 +9,18 @@
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h> // RC Channel Library
#include "AP_Motors_Class.h"
#include "AP_Motors_Multirotor.h"
#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
/// @class AP_MotorsMatrix
class AP_MotorsMatrix : public AP_Motors {
class AP_MotorsMatrix : public AP_Motors_Multirotor {
public:
/// Constructor
AP_MotorsMatrix(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(loop_rate, speed_hz)
AP_Motors_Multirotor(loop_rate, speed_hz)
{};
// init

4
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -29,9 +29,9 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsSingle::var_info[] PROGMEM = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Motors, 0),
AP_NESTEDGROUPINFO(AP_Motors_Multirotor, 0),
// parameters 1 ~ 29 reserved for tradheli
// parameters 1 ~ 29 were reserved for tradheli
// parameters 30 ~ 39 reserved for tricopter
// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)

6
libraries/AP_Motors/AP_MotorsSingle.h
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@ -9,7 +9,7 @@
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h> // RC Channel Library
#include "AP_Motors.h"
#include "AP_Motors_Multirotor.h"
// feedback direction
#define AP_MOTORS_SING_POSITIVE 1
@ -21,12 +21,12 @@
#define AP_MOTORS_SINGLE_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
/// @class AP_MotorsSingle
class AP_MotorsSingle : public AP_Motors {
class AP_MotorsSingle : public AP_Motors_Multirotor {
public:
/// Constructor
AP_MotorsSingle(RC_Channel& servo1, RC_Channel& servo2, RC_Channel& servo3, RC_Channel& servo4, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(loop_rate, speed_hz),
AP_Motors_Multirotor(loop_rate, speed_hz),
_servo1(servo1),
_servo2(servo2),
_servo3(servo3),

4
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -27,9 +27,9 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsTri::var_info[] PROGMEM = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_Motors, 0),
AP_NESTEDGROUPINFO(AP_Motors_Multirotor, 0),
// parameters 1 ~ 29 reserved for tradheli
// parameters 1 ~ 29 were reserved for tradheli
// parameters 30 ~ 39 reserved for tricopter
// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)

6
libraries/AP_Motors/AP_MotorsTri.h
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@ -9,18 +9,18 @@
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h> // RC Channel Library
#include "AP_Motors.h"
#include "AP_Motors_Multirotor.h"
// tail servo uses channel 7
#define AP_MOTORS_CH_TRI_YAW CH_7
/// @class AP_MotorsTri
class AP_MotorsTri : public AP_Motors {
class AP_MotorsTri : public AP_Motors_Multirotor {
public:
/// Constructor
AP_MotorsTri(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(loop_rate, speed_hz)
AP_Motors_Multirotor(loop_rate, speed_hz)
{
AP_Param::setup_object_defaults(this, var_info);
};

344
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -24,84 +24,8 @@
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
// initialise motor map
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM1_MOTOR_TO_CHANNEL_MAP};
#else
const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM2_MOTOR_TO_CHANNEL_MAP};
#endif
// parameters for the motor class
const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
// 0 was used by TB_RATIO
// 1,2,3 were used by throttle curve
// @Param: SPIN_ARMED
// @DisplayName: Motors always spin when armed
// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
// @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast
// @User: Standard
AP_GROUPINFO("SPIN_ARMED", 5, AP_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
// @Param: YAW_HEADROOM
// @DisplayName: Matrix Yaw Min
// @Description: Yaw control is given at least this pwm range
// @Range: 0 500
// @Units: pwm
// @User: Advanced
AP_GROUPINFO("YAW_HEADROOM", 6, AP_Motors, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT),
// 7 was THR_LOW_CMP
// @Param: THST_EXPO
// @DisplayName: Thrust Curve Expo
// @Description: Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)
// @Range: 0.25 0.8
// @User: Advanced
AP_GROUPINFO("THST_EXPO", 8, AP_Motors, _thrust_curve_expo, AP_MOTORS_THST_EXPO_DEFAULT),
// @Param: THST_MAX
// @DisplayName: Thrust Curve Max
// @Description: Point at which the thrust saturates
// @Values: 0.9:Low, 1.0:High
// @User: Advanced
AP_GROUPINFO("THST_MAX", 9, AP_Motors, _thrust_curve_max, AP_MOTORS_THST_MAX_DEFAULT),
// @Param: THST_BAT_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 4.4 * cell count, 0 = Disabled
// @Range: 6 35
// @Units: Volts
// @User: Advanced
AP_GROUPINFO("THST_BAT_MAX", 10, AP_Motors, _batt_voltage_max, AP_MOTORS_THST_BAT_MAX_DEFAULT),
// @Param: THST_BAT_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 3.5 * cell count, 0 = Disabled
// @Range: 6 35
// @Units: Volts
// @User: Advanced
AP_GROUPINFO("THST_BAT_MIN", 11, AP_Motors, _batt_voltage_min, AP_MOTORS_THST_BAT_MIN_DEFAULT),
// @Param: CURR_MAX
// @DisplayName: Motor Current Max
// @Description: Maximum current over which maximum throttle is limited (0 = Disabled)
// @Range: 0 200
// @Units: Amps
// @User: Advanced
AP_GROUPINFO("CURR_MAX", 12, AP_Motors, _batt_current_max, AP_MOTORS_CURR_MAX_DEFAULT),
// @Param: THR_MIX_MIN
// @DisplayName: Throttle Mix Minimum
// @Description: Minimum ratio that the average throttle can increase above the desired throttle after roll, pitch and yaw are mixed
// @Range: 0.1 0.25
// @User: Advanced
AP_GROUPINFO("THR_MIX_MIN", 13, AP_Motors, _thr_mix_min, AP_MOTORS_THR_MIX_MIN_DEFAULT),
AP_GROUPEND
};
const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {MOTOR_TO_CHANNEL_MAP};
// Constructor
AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
@ -112,14 +36,9 @@ AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
_throttle_pwm_scalar(1.0f),
_loop_rate(loop_rate),
_speed_hz(speed_hz),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),
_throttle_radio_min(1100),
_throttle_radio_max(1900),
_hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE),
_spin_when_armed_ramped(0),
_throttle_thr_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_throttle_thr_mix_desired(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_batt_voltage(0.0f),
_batt_voltage_resting(0.0f),
_batt_current(0.0f),
@ -132,8 +51,6 @@ AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
_throttle_in(0.0f),
_throttle_filter()
{
AP_Param::setup_object_defaults(this, var_info);
// slow start motors from zero to min throttle
_flags.slow_start = true;
_flags.slow_start_low_end = true;
@ -144,10 +61,6 @@ AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
_flags.frame_orientation = AP_MOTORS_X_FRAME;
_flags.interlock = false;
// setup battery voltage filtering
_batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f);
// setup throttle filtering
_throttle_filter.set_cutoff_frequency(0.0f);
_throttle_filter.reset(0.0f);
@ -166,257 +79,4 @@ void AP_Motors::armed(bool arm)
_flags.slow_start_low_end = true;
}
AP_Notify::flags.armed = arm;
};
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
// also sets throttle channel minimum and maximum pwm
void AP_Motors::set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max)
{
_throttle_radio_min = radio_min;
_throttle_radio_max = radio_max;
_throttle_pwm_scalar = (_throttle_radio_max - _throttle_radio_min) / 1000.0f;
_min_throttle = (float)min_throttle * _throttle_pwm_scalar;
}
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)
int16_t AP_Motors::get_hover_throttle_as_pwm() const
{
return (_throttle_radio_min + (float)(_throttle_radio_max - _throttle_radio_min) * _hover_out / 1000.0f);
}
// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_Motors::throttle_pass_through(int16_t pwm)
{
if (armed()) {
// send the pilot's input directly to each enabled motor
for (int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), pwm);
}
}
}
}
// output - sends commands to the motors
void AP_Motors::output()
{
// update throttle filter
update_throttle_filter();
// update max throttle
update_max_throttle();
// update battery resistance
update_battery_resistance();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// move throttle_low_comp towards desired throttle low comp
update_throttle_thr_mix();
if (_flags.armed) {
if (!_flags.interlock) {
output_armed_zero_throttle();
} else if (_flags.stabilizing) {
output_armed_stabilizing();
} else {
output_armed_not_stabilizing();
}
} else {
output_disarmed();
}
};
// slow_start - set to true to slew motors from current speed to maximum
// Note: this must be set immediately before a step up in throttle
void AP_Motors::slow_start(bool true_false)
{
// set slow_start flag
_flags.slow_start = true;
// initialise maximum throttle to current throttle
_max_throttle = constrain_int16(_throttle_control_input, 0, AP_MOTORS_DEFAULT_MAX_THROTTLE);
}
// update the throttle input filter
void AP_Motors::update_throttle_filter()
{
if (armed()) {
_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
} else {
_throttle_filter.reset(0.0f);
}
// constrain throttle signal to 0-1000
_throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
}
// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag
void AP_Motors::update_max_throttle()
{
// ramp up minimum spin speed if necessary
if (_flags.slow_start_low_end) {
_spin_when_armed_ramped += AP_MOTOR_SLOW_START_LOW_END_INCREMENT;
if (_spin_when_armed_ramped >= _spin_when_armed) {
_spin_when_armed_ramped = _spin_when_armed;
_flags.slow_start_low_end = false;
}
}
// implement slow start
if (_flags.slow_start) {
// increase slow start throttle
_max_throttle += AP_MOTOR_SLOW_START_INCREMENT;
// turn off slow start if we've reached max throttle
if (_max_throttle >= _throttle_control_input) {
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
_flags.slow_start = false;
}
return;
}
// current limit throttle
current_limit_max_throttle();
}
// current_limit_max_throttle - limits maximum throttle based on current
void AP_Motors::current_limit_max_throttle()
{
// return maximum if current limiting is disabled
if (_batt_current_max <= 0) {
_throttle_limit = 1.0f;
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
return;
}
// remove throttle limit if throttle is at zero or disarmed
if(_throttle_control_input <= 0 || !_flags.armed) {
_throttle_limit = 1.0f;
}
// limit throttle if over current
if (_batt_current > _batt_current_max*1.25f) {
// Fast drop for extreme over current (1 second)
_throttle_limit -= 1.0f/_loop_rate;
} else if(_batt_current > _batt_current_max) {
// Slow drop for extreme over current (5 second)
_throttle_limit -= 0.2f/_loop_rate;
} else {
// Increase throttle limit (2 second)
_throttle_limit += 0.5f/_loop_rate;
}
// throttle limit drops to 20% between hover and full throttle
_throttle_limit = constrain_float(_throttle_limit, 0.2f, 1.0f);
// limit max throttle
_max_throttle = _hover_out + ((1000-_hover_out)*_throttle_limit);
}
// apply_thrust_curve_and_volt_scaling - returns throttle curve adjusted pwm value (i.e. 1000 ~ 2000)
int16_t AP_Motors::apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const
{
// convert to 0.0 to 1.0 ratio
float throttle_ratio = ((float)(pwm_out-pwm_min))/((float)(pwm_max-pwm_min));
// apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
if (_thrust_curve_expo > 0.0f){
throttle_ratio = ((_thrust_curve_expo-1.0f) + safe_sqrt((1.0f-_thrust_curve_expo)*(1.0f-_thrust_curve_expo) + 4.0f*_thrust_curve_expo*_lift_max*throttle_ratio))/(2.0f*_thrust_curve_expo*_batt_voltage_filt.get());
}
// scale to maximum thrust point
throttle_ratio *= _thrust_curve_max;
// convert back to pwm range, constrain and return
return (int16_t)constrain_float(throttle_ratio*(pwm_max-pwm_min)+pwm_min, pwm_min, (pwm_max-pwm_min)*_thrust_curve_max+pwm_min);
}
// update_lift_max from battery voltage - used for voltage compensation
void AP_Motors::update_lift_max_from_batt_voltage()
{
// sanity check battery_voltage_min is not too small
// if disabled or misconfigured exit immediately
if((_batt_voltage_max <= 0) || (_batt_voltage_min >= _batt_voltage_max) || (_batt_voltage < 0.25f*_batt_voltage_min)) {
_batt_voltage_filt.reset(1.0f);
_lift_max = 1.0f;
return;
}
_batt_voltage_min = max(_batt_voltage_min, _batt_voltage_max * 0.6f);
// add current based voltage sag to battery voltage
float batt_voltage = _batt_voltage + _batt_current * _batt_resistance;
batt_voltage = constrain_float(batt_voltage, _batt_voltage_min, _batt_voltage_max);
// filter at 0.5 Hz
float bvf = _batt_voltage_filt.apply(batt_voltage/_batt_voltage_max, 1.0f/_loop_rate);
// calculate lift max
_lift_max = bvf*(1-_thrust_curve_expo) + _thrust_curve_expo*bvf*bvf;
}
// update_battery_resistance - calculate battery resistance when throttle is above hover_out
void AP_Motors::update_battery_resistance()
{
// if motors are stopped, reset resting voltage and current
if (_throttle_control_input <= 0 || !_flags.armed) {
_batt_voltage_resting = _batt_voltage;
_batt_current_resting = _batt_current;
_batt_timer = 0;
} else {
// update battery resistance when throttle is over hover throttle
if ((_batt_timer < 400) && ((_batt_current_resting*2.0f) < _batt_current)) {
if (_throttle_control_input >= _hover_out) {
// filter reaches 90% in 1/4 the test time
_batt_resistance += 0.05f*(( (_batt_voltage_resting-_batt_voltage)/(_batt_current-_batt_current_resting) ) - _batt_resistance);
_batt_timer += 1;
} else {
// initialize battery resistance to prevent change in resting voltage estimate
_batt_resistance = ((_batt_voltage_resting-_batt_voltage)/(_batt_current-_batt_current_resting));
}
}
}
}
// update_throttle_thr_mix - slew set_throttle_thr_mix to requested value
void AP_Motors::update_throttle_thr_mix()
{
// slew _throttle_thr_mix to _throttle_thr_mix_desired
if (_throttle_thr_mix < _throttle_thr_mix_desired) {
// increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds)
_throttle_thr_mix += min(2.0f/_loop_rate, _throttle_thr_mix_desired-_throttle_thr_mix);
} else if (_throttle_thr_mix > _throttle_thr_mix_desired) {
// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds)
_throttle_thr_mix -= min(0.5f/_loop_rate, _throttle_thr_mix-_throttle_thr_mix_desired);
}
_throttle_thr_mix = constrain_float(_throttle_thr_mix, 0.1f, 1.0f);
}
float AP_Motors::get_compensation_gain() const
{
// avoid divide by zero
if (_lift_max <= 0.0f) {
return 1.0f;
}
float ret = 1.0f / _lift_max;
// air density ratio is increasing in density / decreasing in altitude
if (_air_density_ratio > 0.3f && _air_density_ratio < 1.5f) {
ret *= 1.0f / constrain_float(_air_density_ratio,0.5f,1.25f);
}
return ret;
}
float AP_Motors::rel_pwm_to_thr_range(float pwm) const
{
return pwm/_throttle_pwm_scalar;
}
float AP_Motors::thr_range_to_rel_pwm(float thr) const
{
return _throttle_pwm_scalar*thr;
}
};

173
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -20,8 +20,7 @@
#define AP_MOTORS_MOT_7 6
#define AP_MOTORS_MOT_8 7
#define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_7,CH_8,CH_10,CH_11
#define APM2_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7,CH_8
#define MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7,CH_8
#define AP_MOTORS_MAX_NUM_MOTORS 8
@ -29,10 +28,6 @@
#define AP_MOTORS_DEFAULT_MID_THROTTLE 500
#define AP_MOTORS_DEFAULT_MAX_THROTTLE 1000
// APM board definitions
#define AP_MOTORS_APM1 1
#define AP_MOTORS_APM2 2
// frame definitions
#define AP_MOTORS_PLUS_FRAME 0
#define AP_MOTORS_X_FRAME 1
@ -52,21 +47,6 @@
#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
#define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed
#define AP_MOTORS_YAW_HEADROOM_DEFAULT 200
#define AP_MOTORS_THR_LOW_CMP_DEFAULT 0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control. Higher favours Attitude over pilot input
#define AP_MOTORS_THST_EXPO_DEFAULT 0.5f // set to 0 for linear and 1 for second order approximation
#define AP_MOTORS_THST_MAX_DEFAULT 0.95f // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_THST_BAT_MAX_DEFAULT 0.0f
#define AP_MOTORS_THST_BAT_MIN_DEFAULT 0.0f
#define AP_MOTORS_CURR_MAX_DEFAULT 0.0f // current limiting max default
#define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz
#define AP_MOTORS_THR_MIX_MIN_DEFAULT 0.1f // minimum throttle mix
#define AP_MOTORS_THR_MIX_MID_DEFAULT 0.5f // manual throttle mix
#define AP_MOTORS_THR_MIX_MAX_DEFAULT 0.9f // maximum throttle mix
// bit mask for recording which limits we have reached when outputting to motors
#define AP_MOTOR_NO_LIMITS_REACHED 0x00
#define AP_MOTOR_ROLLPITCH_LIMIT 0x01
@ -74,16 +54,6 @@
#define AP_MOTOR_THROTTLE_LIMIT 0x04
#define AP_MOTOR_ANY_LIMIT 0xFF
// To-Do: replace this hard coded counter with a timer
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 1 second)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
#else
// slow start increments - throttle increase per (400hz) iteration. i.e. 1 = full speed in 2.5 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 3 // max throttle ramp speed (i.e. motors can reach full throttle in 0.8 seconds)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 1 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 0.3 second)
#endif
/// @class AP_Motors
class AP_Motors {
public:
@ -91,18 +61,12 @@ public:
// Constructor
AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// init
virtual void Init() {}
// set update rate to motors - a value in hertz
virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
// set frame orientation (normally + or X)
virtual void set_frame_orientation( uint8_t new_orientation ) { _flags.frame_orientation = new_orientation; };
// enable - starts allowing signals to be sent to motors
virtual void enable() = 0;
// arm, disarm or check status status of motors
bool armed() const { return _flags.armed; };
void armed(bool arm);
@ -115,7 +79,7 @@ public:
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
// also sets throttle channel minimum and maximum pwm
void set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max);
virtual void set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max) {}
// set_hover_throttle - sets the mid throttle which is close to the hover throttle of the copter
// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control
@ -142,24 +106,6 @@ public:
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
// output - sends commands to the motors
virtual void output();
// output_min - sends minimum values out to the motors
virtual void output_min() = 0;
// output_test - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) = 0;
// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void throttle_pass_through(int16_t pwm);
// set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
virtual void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; }
// set_voltage - set voltage to be used for output scaling
virtual void set_voltage(float volts){ _batt_voltage = volts; }
@ -169,16 +115,6 @@ public:
// set_density_ratio - sets air density as a proportion of sea level density
void set_air_density_ratio(float ratio) { _air_density_ratio = ratio; }
// set_throttle_thr_mix - set desired throttle_thr_mix (actual throttle_thr_mix is slewed towards this value over 1~2 seconds)
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
void set_throttle_mix_min() { _throttle_thr_mix_desired = _thr_mix_min; }
void set_throttle_mix_mid() { _throttle_thr_mix_desired = AP_MOTORS_THR_MIX_MID_DEFAULT; }
void set_throttle_mix_max() { _throttle_thr_mix_desired = AP_MOTORS_THR_MIX_MAX_DEFAULT; }
// get_throttle_thr_mix - get low throttle compensation value
bool is_throttle_mix_min() { return (_throttle_thr_mix < 1.25f*_thr_mix_min); }
// get_lift_max - get maximum lift ratio
float get_lift_max() { return _lift_max; }
@ -191,20 +127,9 @@ public:
// get_throttle_limit - throttle limit ratio
float get_throttle_limit() { return _throttle_limit; }
// returns warning throttle
float get_throttle_warn() { return rel_pwm_to_thr_range(_spin_when_armed); }
// 1 if motor is enabled, 0 otherwise
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
// slow_start - set to true to slew motors from current speed to maximum
// Note: this must be set immediately before a step up in throttle
void slow_start(bool true_false);
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask() = 0;
// structure for holding motor limit flags
struct AP_Motors_limit {
uint8_t roll_pitch : 1; // we have reached roll or pitch limit
@ -213,8 +138,56 @@ public:
uint8_t throttle_upper : 1; // we have reached throttle's upper limit
} limit;
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
////////////////////////////////////////////////////////////////////////
// Virtual Functions to be overloaded by child classes
// in most cases this is done because of global usage of multirotor specific
// functions which do not apply to helicopters
// init
virtual void Init() {}
// enable - starts allowing signals to be sent to motors
virtual void enable() = 0;
// output - sends commands to the motors
virtual void output() = 0;
// output_min - sends minimum values out to the motors
virtual void output_min() = 0;
// output_test - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) = 0;
virtual int16_t throttle_min() { return AP_MOTORS_DEFAULT_MIN_THROTTLE;};
virtual int16_t throttle_max() { return AP_MOTORS_DEFAULT_MAX_THROTTLE;};
// set_hover_throttle - sets the mid throttle which is close to the hover throttle of the copter
// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control
virtual void set_hover_throttle(uint16_t hov_thr) {}
// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void throttle_pass_through(int16_t pwm) {}
// returns warning throttle
virtual float get_throttle_warn() { return 0; }
// set_throttle_thr_mix - set desired throttle_thr_mix (actual throttle_thr_mix is slewed towards this value over 1~2 seconds)
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
virtual void set_throttle_mix_min() {}
virtual void set_throttle_mix_mid() {}
virtual void set_throttle_mix_max() {}
// slow_start - set to true to slew motors from current speed to maximum
// Note: this must be set immediately before a step up in throttle
virtual void slow_start(bool true_false) {};
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask() = 0;
protected:
// output functions that should be overloaded by child classes
@ -224,31 +197,7 @@ protected:
virtual void output_disarmed()=0;
// update the throttle input filter
virtual void update_throttle_filter();
// update_max_throttle - updates the limits on _max_throttle for slow_start and current limiting flag
void update_max_throttle();
// current_limit_max_throttle - current limit maximum throttle (called from update_max_throttle)
void current_limit_max_throttle();
// apply_thrust_curve_and_volt_scaling - thrust curve and voltage adjusted pwm value (i.e. 1000 ~ 2000)
int16_t apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const;
// update_lift_max_from_batt_voltage - used for voltage compensation
void update_lift_max_from_batt_voltage();
// update_battery_resistance - calculate battery resistance when throttle is above hover_out
void update_battery_resistance();
// update_throttle_thr_mix - updates thr_low_comp value towards the target
void update_throttle_thr_mix();
// return gain scheduling gain based on voltage and air density
float get_compensation_gain() const;
float rel_pwm_to_thr_range(float pwm) const;
float thr_range_to_rel_pwm(float thr) const;
virtual void update_throttle_filter() = 0;
// convert RPY and Throttle servo ranges from legacy controller scheme back into PWM values
// RPY channels typically +/-45 degrees servo travel between +/-400 PWM
@ -272,17 +221,6 @@ protected:
// mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
static const uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM;
// parameters
AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range
AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation
AP_Float _thrust_curve_max; // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
AP_Float _batt_voltage_max; // maximum voltage used to scale lift
AP_Float _batt_voltage_min; // minimum voltage used to scale lift
AP_Float _batt_current_max; // current over which maximum throttle is limited
AP_Float _thr_mix_min; // current over which maximum throttle is limited
// internal variables
float _roll_control_input; // desired roll control from attitude controllers, +/- 4500
float _pitch_control_input; // desired pitch control from attitude controller, +/- 4500
@ -291,14 +229,9 @@ protected:
float _throttle_pwm_scalar; // scalar used to convert throttle channel pwm range into 0-1000 range, ~0.8 - 1.0
uint16_t _loop_rate; // rate at which output() function is called (normally 400hz)
uint16_t _speed_hz; // speed in hz to send updates to motors
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)
int16_t _throttle_radio_min; // minimum radio channel pwm
int16_t _throttle_radio_max; // maximum radio channel pwm
int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000)
int16_t _spin_when_armed_ramped; // equal to _spin_when_armed parameter but slowly ramped up from zero
float _throttle_thr_mix; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1
float _throttle_thr_mix_desired; // desired throttle_low_comp value, actual throttle_low_comp is slewed towards this value over 1~2 seconds
// battery voltage compensation variables
float _batt_voltage; // latest battery voltage reading

365
libraries/AP_Motors/AP_Motors_Multirotor.cpp Normal file
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@ -0,0 +1,365 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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_Motors_Multirotor.cpp - ArduCopter multirotor motors library
* Code by Randy Mackay and Robert Lefebvre. DIYDrones.com
*
*/
#include "AP_Motors_Multirotor.h"
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
// parameters for the motor class
const AP_Param::GroupInfo AP_Motors_Multirotor::var_info[] PROGMEM = {
// 0 was used by TB_RATIO
// 1,2,3 were used by throttle curve
// @Param: SPIN_ARMED
// @DisplayName: Motors always spin when armed
// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
// @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast
// @User: Standard
AP_GROUPINFO("SPIN_ARMED", 5, AP_Motors_Multirotor, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
// @Param: YAW_HEADROOM
// @DisplayName: Matrix Yaw Min
// @Description: Yaw control is given at least this pwm range
// @Range: 0 500
// @Units: pwm
// @User: Advanced
AP_GROUPINFO("YAW_HEADROOM", 6, AP_Motors_Multirotor, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT),
// 7 was THR_LOW_CMP
// @Param: THST_EXPO
// @DisplayName: Thrust Curve Expo
// @Description: Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)
// @Range: 0.25 0.8
// @User: Advanced
AP_GROUPINFO("THST_EXPO", 8, AP_Motors_Multirotor, _thrust_curve_expo, AP_MOTORS_THST_EXPO_DEFAULT),
// @Param: THST_MAX
// @DisplayName: Thrust Curve Max
// @Description: Point at which the thrust saturates
// @Values: 0.9:Low, 1.0:High
// @User: Advanced
AP_GROUPINFO("THST_MAX", 9, AP_Motors_Multirotor, _thrust_curve_max, AP_MOTORS_THST_MAX_DEFAULT),
// @Param: THST_BAT_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 4.4 * cell count, 0 = Disabled
// @Range: 6 35
// @Units: Volts
// @User: Advanced
AP_GROUPINFO("THST_BAT_MAX", 10, AP_Motors_Multirotor, _batt_voltage_max, AP_MOTORS_THST_BAT_MAX_DEFAULT),
// @Param: THST_BAT_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 3.5 * cell count, 0 = Disabled
// @Range: 6 35
// @Units: Volts
// @User: Advanced
AP_GROUPINFO("THST_BAT_MIN", 11, AP_Motors_Multirotor, _batt_voltage_min, AP_MOTORS_THST_BAT_MIN_DEFAULT),
// @Param: CURR_MAX
// @DisplayName: Motor Current Max
// @Description: Maximum current over which maximum throttle is limited (0 = Disabled)
// @Range: 0 200
// @Units: Amps
// @User: Advanced
AP_GROUPINFO("CURR_MAX", 12, AP_Motors_Multirotor, _batt_current_max, AP_MOTORS_CURR_MAX_DEFAULT),
// @Param: THR_MIX_MIN
// @DisplayName: Throttle Mix Minimum
// @Description: Minimum ratio that the average throttle can increase above the desired throttle after roll, pitch and yaw are mixed
// @Range: 0.1 0.25
// @User: Advanced
AP_GROUPINFO("THR_MIX_MIN", 13, AP_Motors_Multirotor, _thr_mix_min, AP_MOTORS_THR_MIX_MIN_DEFAULT),
AP_GROUPEND
};
// Constructor
AP_Motors_Multirotor::AP_Motors_Multirotor(uint16_t loop_rate, uint16_t speed_hz) :
AP_Motors(loop_rate, speed_hz),
_throttle_thr_mix(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_throttle_thr_mix_desired(AP_MOTORS_THR_LOW_CMP_DEFAULT),
_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),
_hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE)
{
AP_Param::setup_object_defaults(this, var_info);
// setup battery voltage filtering
_batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f);
};
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)
int16_t AP_Motors_Multirotor::get_hover_throttle_as_pwm() const
{
return (_throttle_radio_min + (float)(_throttle_radio_max - _throttle_radio_min) * _hover_out / 1000.0f);
}
// output - sends commands to the motors
void AP_Motors_Multirotor::output()
{
// update throttle filter
update_throttle_filter();
// update max throttle
update_max_throttle();
// update battery resistance
update_battery_resistance();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// move throttle_low_comp towards desired throttle low comp
update_throttle_thr_mix();
if (_flags.armed) {
if (!_flags.interlock) {
output_armed_zero_throttle();
} else if (_flags.stabilizing) {
output_armed_stabilizing();
} else {
output_armed_not_stabilizing();
}
} else {
output_disarmed();
}
};
// update the throttle input filter
void AP_Motors_Multirotor::update_throttle_filter()
{
if (armed()) {
_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate);
} else {
_throttle_filter.reset(0.0f);
}
// constrain throttle signal to 0-1000
_throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f);
}
// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag
void AP_Motors_Multirotor::update_max_throttle()
{
// ramp up minimum spin speed if necessary
if (_flags.slow_start_low_end) {
_spin_when_armed_ramped += AP_MOTOR_SLOW_START_LOW_END_INCREMENT;
if (_spin_when_armed_ramped >= _spin_when_armed) {
_spin_when_armed_ramped = _spin_when_armed;
_flags.slow_start_low_end = false;
}
}
// implement slow start
if (_flags.slow_start) {
// increase slow start throttle
_max_throttle += AP_MOTOR_SLOW_START_INCREMENT;
// turn off slow start if we've reached max throttle
if (_max_throttle >= _throttle_control_input) {
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
_flags.slow_start = false;
}
return;
}
// current limit throttle
current_limit_max_throttle();
}
// current_limit_max_throttle - limits maximum throttle based on current
void AP_Motors_Multirotor::current_limit_max_throttle()
{
// return maximum if current limiting is disabled
if (_batt_current_max <= 0) {
_throttle_limit = 1.0f;
_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
return;
}
// remove throttle limit if throttle is at zero or disarmed
if(_throttle_control_input <= 0 || !_flags.armed) {
_throttle_limit = 1.0f;
}
// limit throttle if over current
if (_batt_current > _batt_current_max*1.25f) {
// Fast drop for extreme over current (1 second)
_throttle_limit -= 1.0f/_loop_rate;
} else if(_batt_current > _batt_current_max) {
// Slow drop for extreme over current (5 second)
_throttle_limit -= 0.2f/_loop_rate;
} else {
// Increase throttle limit (2 second)
_throttle_limit += 0.5f/_loop_rate;
}
// throttle limit drops to 20% between hover and full throttle
_throttle_limit = constrain_float(_throttle_limit, 0.2f, 1.0f);
// limit max throttle
_max_throttle = _hover_out + ((1000-_hover_out)*_throttle_limit);
}
// apply_thrust_curve_and_volt_scaling - returns throttle curve adjusted pwm value (i.e. 1000 ~ 2000)
int16_t AP_Motors_Multirotor::apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const
{
// convert to 0.0 to 1.0 ratio
float throttle_ratio = ((float)(pwm_out-pwm_min))/((float)(pwm_max-pwm_min));
// apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
if (_thrust_curve_expo > 0.0f){
throttle_ratio = ((_thrust_curve_expo-1.0f) + safe_sqrt((1.0f-_thrust_curve_expo)*(1.0f-_thrust_curve_expo) + 4.0f*_thrust_curve_expo*_lift_max*throttle_ratio))/(2.0f*_thrust_curve_expo*_batt_voltage_filt.get());
}
// scale to maximum thrust point
throttle_ratio *= _thrust_curve_max;
// convert back to pwm range, constrain and return
return (int16_t)constrain_float(throttle_ratio*(pwm_max-pwm_min)+pwm_min, pwm_min, (pwm_max-pwm_min)*_thrust_curve_max+pwm_min);
}
// update_lift_max from battery voltage - used for voltage compensation
void AP_Motors_Multirotor::update_lift_max_from_batt_voltage()
{
// sanity check battery_voltage_min is not too small
// if disabled or misconfigured exit immediately
if((_batt_voltage_max <= 0) || (_batt_voltage_min >= _batt_voltage_max) || (_batt_voltage < 0.25f*_batt_voltage_min)) {
_batt_voltage_filt.reset(1.0f);
_lift_max = 1.0f;
return;
}
_batt_voltage_min = max(_batt_voltage_min, _batt_voltage_max * 0.6f);
// add current based voltage sag to battery voltage
float batt_voltage = _batt_voltage + _batt_current * _batt_resistance;
batt_voltage = constrain_float(batt_voltage, _batt_voltage_min, _batt_voltage_max);
// filter at 0.5 Hz
float bvf = _batt_voltage_filt.apply(batt_voltage/_batt_voltage_max, 1.0f/_loop_rate);
// calculate lift max
_lift_max = bvf*(1-_thrust_curve_expo) + _thrust_curve_expo*bvf*bvf;
}
// update_battery_resistance - calculate battery resistance when throttle is above hover_out
void AP_Motors_Multirotor::update_battery_resistance()
{
// if motors are stopped, reset resting voltage and current
if (_throttle_control_input <= 0 || !_flags.armed) {
_batt_voltage_resting = _batt_voltage;
_batt_current_resting = _batt_current;
_batt_timer = 0;
} else {
// update battery resistance when throttle is over hover throttle
if ((_batt_timer < 400) && ((_batt_current_resting*2.0f) < _batt_current)) {
if (_throttle_control_input >= _hover_out) {
// filter reaches 90% in 1/4 the test time
_batt_resistance += 0.05f*(( (_batt_voltage_resting-_batt_voltage)/(_batt_current-_batt_current_resting) ) - _batt_resistance);
_batt_timer += 1;
} else {
// initialize battery resistance to prevent change in resting voltage estimate
_batt_resistance = ((_batt_voltage_resting-_batt_voltage)/(_batt_current-_batt_current_resting));
}
}
}
}
// update_throttle_thr_mix - slew set_throttle_thr_mix to requested value
void AP_Motors_Multirotor::update_throttle_thr_mix()
{
// slew _throttle_thr_mix to _throttle_thr_mix_desired
if (_throttle_thr_mix < _throttle_thr_mix_desired) {
// increase quickly (i.e. from 0.1 to 0.9 in 0.4 seconds)
_throttle_thr_mix += min(2.0f/_loop_rate, _throttle_thr_mix_desired-_throttle_thr_mix);
} else if (_throttle_thr_mix > _throttle_thr_mix_desired) {
// reduce more slowly (from 0.9 to 0.1 in 1.6 seconds)
_throttle_thr_mix -= min(0.5f/_loop_rate, _throttle_thr_mix-_throttle_thr_mix_desired);
}
_throttle_thr_mix = constrain_float(_throttle_thr_mix, 0.1f, 1.0f);
}
float AP_Motors_Multirotor::get_compensation_gain() const
{
// avoid divide by zero
if (_lift_max <= 0.0f) {
return 1.0f;
}
float ret = 1.0f / _lift_max;
// air density ratio is increasing in density / decreasing in altitude
if (_air_density_ratio > 0.3f && _air_density_ratio < 1.5f) {
ret *= 1.0f / constrain_float(_air_density_ratio,0.5f,1.25f);
}
return ret;
}
float AP_Motors_Multirotor::rel_pwm_to_thr_range(float pwm) const
{
return pwm/_throttle_pwm_scalar;
}
float AP_Motors_Multirotor::thr_range_to_rel_pwm(float thr) const
{
return _throttle_pwm_scalar*thr;
}
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
// also sets throttle channel minimum and maximum pwm
void AP_Motors_Multirotor::set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max)
{
_throttle_radio_min = radio_min;
_throttle_radio_max = radio_max;
_throttle_pwm_scalar = (_throttle_radio_max - _throttle_radio_min) / 1000.0f;
_min_throttle = (float)min_throttle * _throttle_pwm_scalar;
}
// slow_start - set to true to slew motors from current speed to maximum
// Note: this must be set immediately before a step up in throttle
void AP_Motors_Multirotor::slow_start(bool true_false)
{
// set slow_start flag
_flags.slow_start = true;
// initialise maximum throttle to current throttle
_max_throttle = constrain_int16(_throttle_control_input, 0, AP_MOTORS_DEFAULT_MAX_THROTTLE);
}
// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_Motors_Multirotor::throttle_pass_through(int16_t pwm)
{
if (armed()) {
// send the pilot's input directly to each enabled motor
for (int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), pwm);
}
}
}
}

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_Motors_Multirotor.h
/// @brief Motor control class for Multirotors
#ifndef __AP_MOTORS_MULTIROTOR_H__
#define __AP_MOTORS_MULTIROTOR_H__
#include "AP_Motors_Class.h"
#define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed
#define AP_MOTORS_YAW_HEADROOM_DEFAULT 200
#define AP_MOTORS_THR_LOW_CMP_DEFAULT 0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control. Higher favours Attitude over pilot input
#define AP_MOTORS_THST_EXPO_DEFAULT 0.5f // set to 0 for linear and 1 for second order approximation
#define AP_MOTORS_THST_MAX_DEFAULT 0.95f // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
#define AP_MOTORS_THST_BAT_MAX_DEFAULT 0.0f
#define AP_MOTORS_THST_BAT_MIN_DEFAULT 0.0f
#define AP_MOTORS_CURR_MAX_DEFAULT 0.0f // current limiting max default
#define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz
#define AP_MOTORS_THR_MIX_MIN_DEFAULT 0.1f // minimum throttle mix
#define AP_MOTORS_THR_MIX_MID_DEFAULT 0.5f // manual throttle mix
#define AP_MOTORS_THR_MIX_MAX_DEFAULT 0.9f // maximum throttle mix
// To-Do: replace this hard coded counter with a timer
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 1 second)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
#else
// slow start increments - throttle increase per (400hz) iteration. i.e. 1 = full speed in 2.5 seconds
#define AP_MOTOR_SLOW_START_INCREMENT 3 // max throttle ramp speed (i.e. motors can reach full throttle in 0.8 seconds)
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 1 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 0.3 second)
#endif
/// @class AP_Motors_Multirotor
class AP_Motors_Multirotor :public AP_Motors {
public:
// Constructor
AP_Motors_Multirotor(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// output - sends commands to the motors
virtual void output();
// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000)
int16_t get_hover_throttle_as_pwm() const;
// set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm)
virtual void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; }
// set_throttle_thr_mix - set desired throttle_thr_mix (actual throttle_thr_mix is slewed towards this value over 1~2 seconds)
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
void set_throttle_mix_min() { _throttle_thr_mix_desired = _thr_mix_min; }
void set_throttle_mix_mid() { _throttle_thr_mix_desired = AP_MOTORS_THR_MIX_MID_DEFAULT; }
void set_throttle_mix_max() { _throttle_thr_mix_desired = AP_MOTORS_THR_MIX_MAX_DEFAULT; }
// get_throttle_thr_mix - get low throttle compensation value
bool is_throttle_mix_min() { return (_throttle_thr_mix < 1.25f*_thr_mix_min); }
// returns warning throttle
float get_throttle_warn() { return rel_pwm_to_thr_range(_spin_when_armed); }
int16_t throttle_min() const { return _min_throttle;}
int16_t throttle_max() const { return _max_throttle;}
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
// also sets throttle channel minimum and maximum pwm
void set_throttle_range(uint16_t min_throttle, int16_t radio_min, int16_t radio_max);
// set_hover_throttle - sets the mid throttle which is close to the hover throttle of the copter
// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control
void set_hover_throttle(uint16_t hov_thr) { _hover_out = hov_thr; }
// slow_start - set to true to slew motors from current speed to maximum
// Note: this must be set immediately before a step up in throttle
void slow_start(bool true_false);
// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void throttle_pass_through(int16_t pwm);
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// update the throttle input filter
virtual void update_throttle_filter();
// update_max_throttle - updates the limits on _max_throttle for slow_start and current limiting flag
void update_max_throttle();
// current_limit_max_throttle - current limit maximum throttle (called from update_max_throttle)
void current_limit_max_throttle();
// apply_thrust_curve_and_volt_scaling - thrust curve and voltage adjusted pwm value (i.e. 1000 ~ 2000)
int16_t apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const;
// update_lift_max_from_batt_voltage - used for voltage compensation
void update_lift_max_from_batt_voltage();
// update_battery_resistance - calculate battery resistance when throttle is above hover_out
void update_battery_resistance();
// update_throttle_thr_mix - updates thr_low_comp value towards the target
void update_throttle_thr_mix();
// return gain scheduling gain based on voltage and air density
float get_compensation_gain() const;
float rel_pwm_to_thr_range(float pwm) const;
float thr_range_to_rel_pwm(float thr) const;
// parameters
AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range
AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation
AP_Float _thrust_curve_max; // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range
AP_Float _batt_voltage_max; // maximum voltage used to scale lift
AP_Float _batt_voltage_min; // minimum voltage used to scale lift
AP_Float _batt_current_max; // current over which maximum throttle is limited
AP_Float _thr_mix_min; // current over which maximum throttle is limited
// internal variables
float _throttle_thr_mix_desired; // desired throttle_low_comp value, actual throttle_low_comp is slewed towards this value over 1~2 seconds
float _throttle_thr_mix; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)
int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000)
};
#endif // __AP_MOTORS_MULTIROTOR_H__