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AP_Motors: add getters for example

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Iampete1 2023-02-18 19:25:53 +00:00 committed by Andrew Tridgell
parent f7a8668c30
commit 7c92340b42
4 changed files with 47 additions and 2 deletions
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28
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -597,7 +597,7 @@ bool AP_MotorsMatrix::setup_quad_matrix(motor_frame_type frame_type)
add_motors(motors, ARRAY_SIZE(motors)); add_motors(motors, ARRAY_SIZE(motors));
break; break;
} }
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane) #if APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
case MOTOR_FRAME_TYPE_NYT_PLUS: { case MOTOR_FRAME_TYPE_NYT_PLUS: {
_frame_type_string = "NYT_PLUS"; _frame_type_string = "NYT_PLUS";
static const AP_MotorsMatrix::MotorDef motors[] { static const AP_MotorsMatrix::MotorDef motors[] {
@ -620,7 +620,7 @@ bool AP_MotorsMatrix::setup_quad_matrix(motor_frame_type frame_type)
add_motors(motors, ARRAY_SIZE(motors)); add_motors(motors, ARRAY_SIZE(motors));
break; break;
} }
#endif //APM_BUILD_TYPE(APM_BUILD_ArduPlane) #endif //APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
case MOTOR_FRAME_TYPE_BF_X: { case MOTOR_FRAME_TYPE_BF_X: {
// betaflight quad X order // betaflight quad X order
// see: https://fpvfrenzy.com/betaflight-motor-order/ // see: https://fpvfrenzy.com/betaflight-motor-order/
@ -1365,5 +1365,29 @@ void AP_MotorsMatrix::disable_yaw_torque(void)
} }
} }
#if APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
// examples can pull values direct
float AP_MotorsMatrix::get_thrust_rpyt_out(uint8_t i) const
{
if (i < AP_MOTORS_MAX_NUM_MOTORS) {
return _thrust_rpyt_out[i];
}
return 0.0;
}
bool AP_MotorsMatrix::get_factors(uint8_t i, float &roll, float &pitch, float &yaw, float &throttle, uint8_t &testing_order) const
{
if ((i < AP_MOTORS_MAX_NUM_MOTORS) && motor_enabled[i]) {
roll = _roll_factor[i];
pitch = _pitch_factor[i];
yaw = _yaw_factor[i];
throttle = _throttle_factor[i];
testing_order = _test_order[i];
return true;
}
return false;
}
#endif
// singleton instance // singleton instance
AP_MotorsMatrix *AP_MotorsMatrix::_singleton; AP_MotorsMatrix *AP_MotorsMatrix::_singleton;

4
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -101,6 +101,10 @@ public:
}; };
void add_motors_raw(const struct MotorDefRaw *motors, uint8_t num_motors); void add_motors_raw(const struct MotorDefRaw *motors, uint8_t num_motors);
// pull values direct, (examples only)
float get_thrust_rpyt_out(uint8_t i) const;
bool get_factors(uint8_t i, float &roll, float &pitch, float &yaw, float &throttle, uint8_t &testing_order) const;
protected: protected:
// output - sends commands to the motors // output - sends commands to the motors
void output_armed_stabilizing() override; void output_armed_stabilizing() override;

13
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -873,3 +873,16 @@ bool AP_MotorsMulticopter::arming_checks(size_t buflen, char *buffer) const
return true; return true;
} }
#if APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
// Getters for AP_Motors example, not used by vehicles
float AP_MotorsMulticopter::get_throttle_avg_max() const
{
return _throttle_avg_max;
}
int16_t AP_MotorsMulticopter::get_yaw_headroom() const
{
return _yaw_headroom;
}
#endif

4
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -105,6 +105,10 @@ public:
// Run arming checks // Run arming checks
bool arming_checks(size_t buflen, char *buffer) const override; bool arming_checks(size_t buflen, char *buffer) const override;
// Getters for AP_Motors example, not used by vehicles
float get_throttle_avg_max() const;
int16_t get_yaw_headroom() const;
// var_info for holding Parameter information // var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];