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Copter: allow for HELI_DUAL configurations

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This commit is contained in:
Andrew Tridgell 2017-03-14 20:47:18 +11:00
parent 1ad5e1db4e
commit 6bb5c16fb8
3 changed files with 31 additions and 19 deletions
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3
ArduCopter/Copter.h
View File

@ -336,12 +336,13 @@ private:
// Motor Output
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli_Single
#define MOTOR_CLASS AP_MotorsHeli
#else
#define MOTOR_CLASS AP_MotorsMulticopter
#endif
MOTOR_CLASS *motors;
const struct AP_Param::GroupInfo *motors_var_info;
// GPS variables
// Sometimes we need to remove the scaling for distance calcs

7
ArduCopter/Parameters.cpp
View File

@ -25,6 +25,7 @@
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &copter.g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info} }
#define GOBJECTPTR(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER }
#define GOBJECTVARPTR(v, name, var_info_ptr) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }
const AP_Param::Info Copter::var_info[] = {
@ -779,12 +780,12 @@ const AP_Param::Info Copter::var_info[] = {
#if FRAME_CONFIG == HELI_FRAME
// @Group: H_
// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp,../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECTPTR(motors, "H_", AP_MotorsHeli_Single),
// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp,../libraries/AP_Motors/AP_MotorsHeli_Dual.cpp,../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECTVARPTR(motors, "H_", &copter.motors_var_info),
#else
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
GOBJECTPTR(motors, "MOT_", AP_MotorsMulticopter),
GOBJECTVARPTR(motors, "MOT_", &copter.motors_var_info),
#endif
// @Group: RCMAP_

36
ArduCopter/system.cpp
View File

@ -472,7 +472,8 @@ bool Copter::should_log(uint32_t mask)
// default frame_class to match firmware if possible
void Copter::set_default_frame_class()
{
if (FRAME_CONFIG == HELI_FRAME) {
if (FRAME_CONFIG == HELI_FRAME &&
g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL) {
g2.frame_class.set(AP_Motors::MOTOR_FRAME_HELI);
}
}
@ -491,6 +492,7 @@ uint8_t Copter::get_frame_mav_type()
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
return MAV_TYPE_OCTOROTOR;
case AP_Motors::MOTOR_FRAME_HELI:
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
return MAV_TYPE_HELICOPTER;
case AP_Motors::MOTOR_FRAME_TRI:
return MAV_TYPE_TRICOPTER;
@ -519,6 +521,8 @@ const char* Copter::get_frame_string()
return "OCTA_QUAD";
case AP_Motors::MOTOR_FRAME_HELI:
return "HELI";
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
return "HELI_DUAL";
case AP_Motors::MOTOR_FRAME_TRI:
return "TRI";
case AP_Motors::MOTOR_FRAME_SINGLE:
@ -538,8 +542,6 @@ const char* Copter::get_frame_string()
*/
void Copter::allocate_motors(void)
{
const struct AP_Param::GroupInfo *var_info;
switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
#if FRAME_CONFIG != HELI_FRAME
case AP_Motors::MOTOR_FRAME_QUAD:
@ -549,30 +551,36 @@ void Copter::allocate_motors(void)
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
default:
motors = new AP_MotorsMatrix(MAIN_LOOP_RATE);
var_info = AP_MotorsMatrix::var_info;
motors_var_info = AP_MotorsMatrix::var_info;
break;
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(MAIN_LOOP_RATE);
var_info = AP_MotorsTri::var_info;
motors_var_info = AP_MotorsTri::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
break;
case AP_Motors::MOTOR_FRAME_SINGLE:
motors = new AP_MotorsSingle(MAIN_LOOP_RATE);
var_info = AP_MotorsSingle::var_info;
motors_var_info = AP_MotorsSingle::var_info;
break;
case AP_Motors::MOTOR_FRAME_COAX:
motors = new AP_MotorsCoax(MAIN_LOOP_RATE);
var_info = AP_MotorsCoax::var_info;
motors_var_info = AP_MotorsCoax::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(MAIN_LOOP_RATE);
var_info = AP_MotorsTailsitter::var_info;
motors_var_info = AP_MotorsTailsitter::var_info;
break;
#else // FRAME_CONFIG == HELI_FRAME
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
motors = new AP_MotorsHeli_Dual(MAIN_LOOP_RATE);
motors_var_info = AP_MotorsHeli_Dual::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break;
case AP_Motors::MOTOR_FRAME_HELI:
default:
motors = new AP_MotorsHeli_Single(MAIN_LOOP_RATE);
var_info = AP_MotorsHeli_Single::var_info;
motors_var_info = AP_MotorsHeli_Single::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break;
#endif
@ -580,24 +588,26 @@ void Copter::allocate_motors(void)
if (motors == nullptr) {
AP_HAL::panic("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());
}
AP_Param::load_object_from_eeprom(motors, var_info);
AP_Param::load_object_from_eeprom(motors, motors_var_info);
AP_AHRS_View *ahrs_view = ahrs.create_view(ROTATION_NONE);
if (ahrs_view == nullptr) {
AP_HAL::panic("Unable to allocate AP_AHRS_View");
}
const struct AP_Param::GroupInfo *ac_var_info;
#if FRAME_CONFIG != HELI_FRAME
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, MAIN_LOOP_SECONDS);
var_info = AC_AttitudeControl_Multi::var_info;
ac_var_info = AC_AttitudeControl_Multi::var_info;
#else
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, MAIN_LOOP_SECONDS);
var_info = AC_AttitudeControl_Heli::var_info;
ac_var_info = AC_AttitudeControl_Heli::var_info;
#endif
if (attitude_control == nullptr) {
AP_HAL::panic("Unable to allocate AttitudeControl");
}
AP_Param::load_object_from_eeprom(attitude_control, var_info);
AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,