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AP_MotorsHeli: Rework how servo setup is done.

This commit is contained in:
Robert Lefebvre 2015-08-12 11:41:40 -04:00 committed by Randy Mackay
parent 345663f705
commit 84102c3e3f
4 changed files with 249 additions and 310 deletions
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63
libraries/AP_Motors/AP_MotorsHeli.cpp
View File

@ -165,14 +165,14 @@ void AP_MotorsHeli::Init()
// set update rate // set update rate
set_update_rate(_speed_hz); set_update_rate(_speed_hz);
// ensure inputs are not passed through to servos // ensure inputs are not passed through to servos on start-up
_servo_manual = 0; _servo_manual = 0;
// initialise some scalers
recalc_scalers();
// initialise swash plate // initialise swash plate
init_swash(); init_outputs();
// calculate all scalars
calculate_scalars();
} }
// output - sends commands to the servos // output - sends commands to the servos
@ -221,65 +221,16 @@ bool AP_MotorsHeli::parameter_check() const
return true; return true;
} }
// reset_swash - free up swash for maximum movements. Used for set-up
void AP_MotorsHeli::reset_swash()
{
// free up servo ranges
reset_servos();
// calculate factors based on swash type and servo position
calculate_roll_pitch_collective_factors();
// set roll, pitch and throttle scaling
_roll_scaler = 1.0f;
_pitch_scaler = 1.0f;
_collective_scalar = ((float)(_throttle_radio_max - _throttle_radio_min))/1000.0f;
_collective_scalar_manual = 1.0f;
// we must be in set-up mode so mark swash as uninitialised
_heliflags.swash_initialised = false;
}
// reset_swash_servo // reset_swash_servo
void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo) void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo)
{ {
servo.set_range(0, 1000); servo.set_range(0, 1000);
// swash servos always use full endpoints as restricting them would lead to scaling errors
servo.radio_min = 1000; servo.radio_min = 1000;
servo.radio_max = 2000; servo.radio_max = 2000;
} }
// init_swash - initialise the swash plate
void AP_MotorsHeli::init_swash()
{
// swash servo initialisation
init_servos();
// range check collective min, max and mid
if( _collective_min >= _collective_max ) {
_collective_min = 1000;
_collective_max = 2000;
}
_collective_mid = constrain_int16(_collective_mid, _collective_min, _collective_max);
// calculate collective mid point as a number from 0 to 1000
_collective_mid_pwm = ((float)(_collective_mid-_collective_min))/((float)(_collective_max-_collective_min))*1000.0f;
// calculate maximum collective pitch range from full positive pitch to zero pitch
_collective_range = 1000 - _collective_mid_pwm;
// determine roll, pitch and collective input scaling
_roll_scaler = (float)_roll_max/4500.0f;
_pitch_scaler = (float)_pitch_max/4500.0f;
_collective_scalar = ((float)(_collective_max-_collective_min))/1000.0f;
// calculate factors based on swash type and servo position
calculate_roll_pitch_collective_factors();
// mark swash as initialised
_heliflags.swash_initialised = true;
}
// update the throttle input filter // update the throttle input filter
void AP_MotorsHeli::update_throttle_filter() void AP_MotorsHeli::update_throttle_filter()
{ {

24
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -75,7 +75,6 @@ public:
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
// initialise flags // initialise flags
_heliflags.swash_initialised = 0;
_heliflags.landing_collective = 0; _heliflags.landing_collective = 0;
_heliflags.rotor_runup_complete = 0; _heliflags.rotor_runup_complete = 0;
}; };
@ -144,8 +143,8 @@ public:
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight // rotor_speed_above_critical - return true if rotor speed is above that critical for flight
virtual bool rotor_speed_above_critical() const = 0; virtual bool rotor_speed_above_critical() const = 0;
// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters // calculate_scalars - must be implemented by child classes
virtual void recalc_scalers() = 0; virtual void calculate_scalars() = 0;
// 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[];
@ -181,30 +180,20 @@ protected:
// update the throttle input filter // update the throttle input filter
void update_throttle_filter(); void update_throttle_filter();
// heli_move_swash - moves swash plate to attitude of parameters passed in // move_actuators - moves swash plate and tail rotor
virtual void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out) = 0; virtual void move_actuators(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out) = 0;
// reset_swash - free up swash for maximum movements. Used for set-up
void reset_swash();
// reset_servos - free up the swash servos for maximum movement
virtual void reset_servos() = 0;
// reset_swash_servo - free up swash servo for maximum movement // reset_swash_servo - free up swash servo for maximum movement
static void reset_swash_servo(RC_Channel& servo); static void reset_swash_servo(RC_Channel& servo);
// init_swash - initialise the swash plate // init_outputs - initialise Servo/PWM ranges and endpoints
void init_swash(); virtual void init_outputs() = 0;
// init_servos - initialize the servos
virtual void init_servos() = 0;
// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
virtual void calculate_roll_pitch_collective_factors() = 0; virtual void calculate_roll_pitch_collective_factors() = 0;
// flags bitmask // flags bitmask
struct heliflags_type { struct heliflags_type {
uint8_t swash_initialised : 1; // true if swash has been initialised
uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum
uint8_t rotor_runup_complete : 1; // true if the rotors have had enough time to wind up uint8_t rotor_runup_complete : 1; // true if the rotors have had enough time to wind up
} _heliflags; } _heliflags;
@ -233,7 +222,6 @@ protected:
float _roll_scaler = 1; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range float _roll_scaler = 1; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler = 1; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range float _pitch_scaler = 1; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar = 1; // collective scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500) float _collective_scalar = 1; // collective scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
float _collective_scalar_manual = 1; // collective scalar to reduce the range of the collective movement while collective is being controlled manually (i.e. directly by the pilot)
int16_t _collective_out = 0; // actual collective pitch value. Required by the main code for calculating cruise throttle int16_t _collective_out = 0; // actual collective pitch value. Required by the main code for calculating cruise throttle
int16_t _collective_mid_pwm = 0; // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000) int16_t _collective_mid_pwm = 0; // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000)
int16_t _delta_phase_angle = 0; // phase angle dynamic compensation int16_t _delta_phase_angle = 0; // phase angle dynamic compensation

452
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -108,21 +108,6 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] PROGMEM = {
AP_GROUPEND AP_GROUPEND
}; };
//
// public methods
//
// init
void AP_MotorsHeli_Single::Init()
{
AP_MotorsHeli::Init();
// disable channels 7 and 8 from being used by RC_Channel_aux
RC_Channel_aux::disable_aux_channel(_motor_to_channel_map[AP_MOTORS_HELI_SINGLE_AUX]);
RC_Channel_aux::disable_aux_channel(_motor_to_channel_map[AP_MOTORS_HELI_SINGLE_RSC]);
}
// set update rate to motors - a value in hertz // set update rate to motors - a value in hertz
void AP_MotorsHeli_Single::set_update_rate( uint16_t speed_hz ) void AP_MotorsHeli_Single::set_update_rate( uint16_t speed_hz )
{ {
@ -138,7 +123,7 @@ void AP_MotorsHeli_Single::set_update_rate( uint16_t speed_hz )
hal.rcout->set_freq(mask, _speed_hz); hal.rcout->set_freq(mask, _speed_hz);
} }
// enable - starts allowing signals to be sent to motors // enable - starts allowing signals to be sent to motors and servos
void AP_MotorsHeli_Single::enable() void AP_MotorsHeli_Single::enable()
{ {
// enable output channels // enable output channels
@ -146,8 +131,27 @@ void AP_MotorsHeli_Single::enable()
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2])); // swash servo 2 hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2])); // swash servo 2
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3])); // swash servo 3 hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3])); // swash servo 3
hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4])); // yaw hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4])); // yaw
hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_AUX); // output for gyro gain or direct drive variable pitch tail motor hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_AUX); // output for gyro gain or direct drive variable pitch tail motor
hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_RSC); // output for main rotor esc hal.rcout->enable_ch(AP_MOTORS_HELI_SINGLE_RSC); // output for main rotor esc
// disable channels 7 and 8 from being used by RC_Channel_aux
RC_Channel_aux::disable_aux_channel(_motor_to_channel_map[AP_MOTORS_HELI_SINGLE_AUX]);
RC_Channel_aux::disable_aux_channel(_motor_to_channel_map[AP_MOTORS_HELI_SINGLE_RSC]);
}
// init_outputs - initialise Servo/PWM ranges and endpoints
void AP_MotorsHeli_Single::init_outputs()
{
// reset swash servo range and endpoints
reset_swash_servo (_swash_servo_1);
reset_swash_servo (_swash_servo_2);
reset_swash_servo (_swash_servo_3);
_yaw_servo.set_angle(4500);
// set main rotor servo range
// tail rotor servo use range as set in vehicle code for rc7
_main_rotor.init_servo();
} }
// output_test - spin a motor at the pwm value specified // output_test - spin a motor at the pwm value specified
@ -216,9 +220,31 @@ void AP_MotorsHeli_Single::set_desired_rotor_speed(int16_t desired_speed)
} }
} }
// recalc_scalers - recalculates various scalers used. // calculate_scalars - recalculates various scalers used.
void AP_MotorsHeli_Single::recalc_scalers() void AP_MotorsHeli_Single::calculate_scalars()
{ {
// range check collective min, max and mid
if( _collective_min >= _collective_max ) {
_collective_min = AP_MOTORS_HELI_COLLECTIVE_MIN;
_collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX;
}
_collective_mid = constrain_int16(_collective_mid, _collective_min, _collective_max);
// calculate collective mid point as a number from 0 to 1000
_collective_mid_pwm = ((float)(_collective_mid-_collective_min))/((float)(_collective_max-_collective_min))*1000.0f;
// calculate maximum collective pitch range from full positive pitch to zero pitch
_collective_range = 1000 - _collective_mid_pwm;
// determine roll, pitch and collective input scaling
_roll_scaler = (float)_roll_max/4500.0f;
_pitch_scaler = (float)_pitch_max/4500.0f;
_collective_scalar = ((float)(_collective_max-_collective_min))/1000.0f;
// calculate factors based on swash type and servo position
calculate_roll_pitch_collective_factors();
// send setpoints to main rotor controller and trigger recalculation of scalars
_main_rotor.set_control_mode(_rsc_mode); _main_rotor.set_control_mode(_rsc_mode);
_main_rotor.set_ramp_time(_rsc_ramp_time); _main_rotor.set_ramp_time(_rsc_ramp_time);
_main_rotor.set_runup_time(_rsc_runup_time); _main_rotor.set_runup_time(_rsc_runup_time);
@ -227,6 +253,7 @@ void AP_MotorsHeli_Single::recalc_scalers()
_main_rotor.set_power_output_range(_rsc_power_low, _rsc_power_high); _main_rotor.set_power_output_range(_rsc_power_low, _rsc_power_high);
_main_rotor.recalc_scalers(); _main_rotor.recalc_scalers();
// send setpoints to tail rotor controller and trigger recalculation of scalars
if (_rsc_mode == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) { if (_rsc_mode == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_SETPOINT); _tail_rotor.set_control_mode(AP_MOTORS_HELI_RSC_MODE_SETPOINT);
_tail_rotor.set_ramp_time(_rsc_ramp_time); _tail_rotor.set_ramp_time(_rsc_ramp_time);
@ -243,151 +270,6 @@ void AP_MotorsHeli_Single::recalc_scalers()
_tail_rotor.recalc_scalers(); _tail_rotor.recalc_scalers();
} }
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsHeli_Single::get_motor_mask()
{
// heli uses channels 1,2,3,4,7 and 8
return (1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_AUX | 1U << AP_MOTORS_HELI_SINGLE_RSC);
}
// output_min - sets servos to neutral point
void AP_MotorsHeli_Single::output_min()
{
// move swash to mid
move_swash(0,0,500,0);
_main_rotor.output(ROTOR_CONTROL_STOP);
_tail_rotor.output(ROTOR_CONTROL_STOP);
// override limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = false;
}
// sends commands to the motors
void AP_MotorsHeli_Single::output_armed_stabilizing()
{
// if manual override active after arming, deactivate it.
if (_servo_manual == 1) {
reset_radio_passthrough();
_servo_manual = 0;
}
move_swash(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_ACTIVE);
if (!_tail_rotor.is_runup_complete())
{
_heliflags.rotor_runup_complete = false;
return;
}
}
_main_rotor.output(ROTOR_CONTROL_ACTIVE);
_heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
}
void AP_MotorsHeli_Single::output_armed_not_stabilizing()
{
// if manual override active after arming, deactivate it.
if (_servo_manual == 1) {
reset_radio_passthrough();
_servo_manual = 0;
}
move_swash(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_ACTIVE);
if (!_tail_rotor.is_runup_complete())
{
_heliflags.rotor_runup_complete = false;
return;
}
}
_main_rotor.output(ROTOR_CONTROL_ACTIVE);
_heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
}
// output_armed_zero_throttle - sends commands to the motors
void AP_MotorsHeli_Single::output_armed_zero_throttle()
{
// if manual override active after arming, deactivate it.
if (_servo_manual == 1) {
reset_radio_passthrough();
_servo_manual = 0;
}
move_swash(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_IDLE);
if (!_tail_rotor.is_runup_complete())
{
_heliflags.rotor_runup_complete = false;
return;
}
}
_main_rotor.output(ROTOR_CONTROL_IDLE);
_heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
}
// output_disarmed - sends commands to the motors
void AP_MotorsHeli_Single::output_disarmed()
{
// if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
if (_servo_manual == 1) {
_roll_control_input = _roll_radio_passthrough;
_pitch_control_input = _pitch_radio_passthrough;
_throttle_control_input = _throttle_radio_passthrough;
_yaw_control_input = _yaw_radio_passthrough;
}
move_swash(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_STOP);
}
_main_rotor.output(ROTOR_CONTROL_STOP);
_heliflags.rotor_runup_complete = false;
}
// reset_servos
void AP_MotorsHeli_Single::reset_servos()
{
reset_swash_servo (_swash_servo_1);
reset_swash_servo (_swash_servo_2);
reset_swash_servo (_swash_servo_3);
}
// init_servos
void AP_MotorsHeli_Single::init_servos()
{
// reset swash servo range and endpoints
reset_servos();
_yaw_servo.set_angle(4500);
// set main rotor servo range
// tail rotor servo use range as set in vehicle code for rc7
_main_rotor.init_servo();
}
// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
void AP_MotorsHeli_Single::calculate_roll_pitch_collective_factors() void AP_MotorsHeli_Single::calculate_roll_pitch_collective_factors()
{ {
@ -427,6 +309,141 @@ void AP_MotorsHeli_Single::calculate_roll_pitch_collective_factors()
} }
} }
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsHeli_Single::get_motor_mask()
{
// heli uses channels 1,2,3,4,7 and 8
return (1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_SINGLE_AUX | 1U << AP_MOTORS_HELI_SINGLE_RSC);
}
// output_min - sets servos to neutral point
void AP_MotorsHeli_Single::output_min()
{
// move swash to mid
move_actuators(0,0,500,0);
_main_rotor.output(ROTOR_CONTROL_STOP);
_tail_rotor.output(ROTOR_CONTROL_STOP);
// override limits flags
limit.roll_pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = false;
}
// sends commands to the motors
void AP_MotorsHeli_Single::output_armed_stabilizing()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual == 1) {
reset_radio_passthrough();
_servo_manual = 0;
init_outputs();
calculate_scalars();
}
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_ACTIVE);
if (!_tail_rotor.is_runup_complete())
{
_heliflags.rotor_runup_complete = false;
return;
}
}
_main_rotor.output(ROTOR_CONTROL_ACTIVE);
_heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
}
void AP_MotorsHeli_Single::output_armed_not_stabilizing()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual == 1) {
reset_radio_passthrough();
_servo_manual = 0;
init_outputs();
calculate_scalars();
}
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_ACTIVE);
if (!_tail_rotor.is_runup_complete())
{
_heliflags.rotor_runup_complete = false;
return;
}
}
_main_rotor.output(ROTOR_CONTROL_ACTIVE);
_heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
}
// output_armed_zero_throttle - sends commands to the motors
void AP_MotorsHeli_Single::output_armed_zero_throttle()
{
// if manual override active after arming, deactivate it and reinitialize servos
if (_servo_manual == 1) {
reset_radio_passthrough();
_servo_manual = 0;
init_outputs();
calculate_scalars();
}
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_IDLE);
if (!_tail_rotor.is_runup_complete())
{
_heliflags.rotor_runup_complete = false;
return;
}
}
_main_rotor.output(ROTOR_CONTROL_IDLE);
_heliflags.rotor_runup_complete = _main_rotor.is_runup_complete();
}
// output_disarmed - sends commands to the motors
void AP_MotorsHeli_Single::output_disarmed()
{
// if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
if (_servo_manual == 1) {
_roll_control_input = _roll_radio_passthrough;
_pitch_control_input = _pitch_radio_passthrough;
_throttle_control_input = _throttle_radio_passthrough;
_yaw_control_input = _yaw_radio_passthrough;
}
// ensure swash servo endpoints haven't been moved
init_outputs();
// continuously recalculate scalars to allow setup
calculate_scalars();
move_actuators(_roll_control_input, _pitch_control_input, _throttle_control_input, _yaw_control_input);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.output(ROTOR_CONTROL_STOP);
}
_main_rotor.output(ROTOR_CONTROL_STOP);
_heliflags.rotor_runup_complete = false;
}
// set_delta_phase_angle for setting variable phase angle compensation and force // set_delta_phase_angle for setting variable phase angle compensation and force
// recalculation of collective factors // recalculation of collective factors
void AP_MotorsHeli_Single::set_delta_phase_angle(int16_t angle) void AP_MotorsHeli_Single::set_delta_phase_angle(int16_t angle)
@ -437,14 +454,14 @@ void AP_MotorsHeli_Single::set_delta_phase_angle(int16_t angle)
} }
// //
// heli_move_swash - moves swash plate to attitude of parameters passed in // move_actuators - moves swash plate and tail rotor
// - expected ranges: // - expected ranges:
// roll : -4500 ~ 4500 // roll : -4500 ~ 4500
// pitch: -4500 ~ 4500 // pitch: -4500 ~ 4500
// collective: 0 ~ 1000 // collective: 0 ~ 1000
// yaw: -4500 ~ 4500 // yaw: -4500 ~ 4500
// //
void AP_MotorsHeli_Single::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out) void AP_MotorsHeli_Single::move_actuators(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out)
{ {
int16_t yaw_offset = 0; int16_t yaw_offset = 0;
int16_t coll_out_scaled; int16_t coll_out_scaled;
@ -455,67 +472,54 @@ void AP_MotorsHeli_Single::move_swash(int16_t roll_out, int16_t pitch_out, int16
limit.throttle_lower = false; limit.throttle_lower = false;
limit.throttle_upper = false; limit.throttle_upper = false;
if (_servo_manual == 1) { // are we in manual servo mode? (i.e. swash set-up mode)? // rescale roll_out and pitch-out into the min and max ranges to provide linear motion
// check if we need to free up the swash // across the input range instead of stopping when the input hits the constrain value
if (_heliflags.swash_initialised) { // these calculations are based on an assumption of the user specified roll_max and pitch_max
reset_swash(); // coming into this equation at 4500 or less, and based on the original assumption of the
} // total _servo_x.servo_out range being -4500 to 4500.
// To-Do: This equation seems to be wrong. It probably restricts swash movement so that swash setup doesn't work right. roll_out = roll_out * _roll_scaler;
// _collective_scalar should probably not be used or set to 1? if (roll_out < -_roll_max) {
coll_out_scaled = coll_in * _collective_scalar + _throttle_radio_min - 1000; roll_out = -_roll_max;
}else{ // regular flight mode limit.roll_pitch = true;
}
if (roll_out > _roll_max) {
roll_out = _roll_max;
limit.roll_pitch = true;
}
// check if we need to reinitialise the swash // scale pitch and update limits
if (!_heliflags.swash_initialised) { pitch_out = pitch_out * _pitch_scaler;
init_swash(); if (pitch_out < -_pitch_max) {
} pitch_out = -_pitch_max;
limit.roll_pitch = true;
}
if (pitch_out > _pitch_max) {
pitch_out = _pitch_max;
limit.roll_pitch = true;
}
// rescale roll_out and pitch-out into the min and max ranges to provide linear motion // constrain collective input
// across the input range instead of stopping when the input hits the constrain value _collective_out = coll_in;
// these calculations are based on an assumption of the user specified roll_max and pitch_max if (_collective_out <= 0) {
// coming into this equation at 4500 or less, and based on the original assumption of the _collective_out = 0;
// total _servo_x.servo_out range being -4500 to 4500. limit.throttle_lower = true;
roll_out = roll_out * _roll_scaler; }
if (roll_out < -_roll_max) { if (_collective_out >= 1000) {
roll_out = -_roll_max; _collective_out = 1000;
limit.roll_pitch = true; limit.throttle_upper = true;
} }
if (roll_out > _roll_max) {
roll_out = _roll_max;
limit.roll_pitch = true;
}
// scale pitch and update limits // ensure not below landed/landing collective
pitch_out = pitch_out * _pitch_scaler; if (_heliflags.landing_collective && _collective_out < _land_collective_min) {
if (pitch_out < -_pitch_max) { _collective_out = _land_collective_min;
pitch_out = -_pitch_max; limit.throttle_lower = true;
limit.roll_pitch = true; }
}
if (pitch_out > _pitch_max) {
pitch_out = _pitch_max;
limit.roll_pitch = true;
}
// constrain collective input // scale collective pitch
_collective_out = coll_in; coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
if (_collective_out <= 0) {
_collective_out = 0;
limit.throttle_lower = true;
}
if (_collective_out >= 1000) {
_collective_out = 1000;
limit.throttle_upper = true;
}
// ensure not below landed/landing collective // if servo output not in manual mode, process pre-compensation factors
if (_heliflags.landing_collective && _collective_out < _land_collective_min) { if (_servo_manual == 0) {
_collective_out = _land_collective_min;
limit.throttle_lower = true;
}
// scale collective pitch
coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
// rudder feed forward based on collective // rudder feed forward based on collective
// the feed-forward is not required when the motor is stopped or at idle, and thus not creating torque // the feed-forward is not required when the motor is stopped or at idle, and thus not creating torque
// also not required if we are using external gyro // also not required if we are using external gyro
@ -524,6 +528,8 @@ void AP_MotorsHeli_Single::move_swash(int16_t roll_out, int16_t pitch_out, int16
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE); _collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE);
yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm); yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm);
} }
} else {
yaw_offset = 0;
} }
// feed power estimate into main rotor controller // feed power estimate into main rotor controller

20
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -66,14 +66,11 @@ public:
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
}; };
// init
void Init();
// set update rate to motors - a value in hertz // set update rate to motors - a value in hertz
// you must have setup_motors before calling this // you must have setup_motors before calling this
void set_update_rate(uint16_t speed_hz); void set_update_rate(uint16_t speed_hz);
// enable - starts allowing signals to be sent to motors // enable - starts allowing signals to be sent to motors and servos
void enable(); void enable();
// output_test - spin a motor at the pwm value specified // output_test - spin a motor at the pwm value specified
@ -99,8 +96,8 @@ public:
// rotor_speed_above_critical - return true if rotor speed is above that critical for flight // rotor_speed_above_critical - return true if rotor speed is above that critical for flight
bool rotor_speed_above_critical() const { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); } bool rotor_speed_above_critical() const { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
// recalc_scalers - recalculates various scalers used. // calculate_scalars - recalculates various scalars used
void recalc_scalers(); void calculate_scalars();
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used) // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict // this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
@ -137,17 +134,14 @@ protected:
void output_armed_zero_throttle(); void output_armed_zero_throttle();
void output_disarmed(); void output_disarmed();
// reset_servos - free up the swash servos for maximum movement // init_outputs - initialise Servo/PWM ranges and endpoints
void reset_servos(); void init_outputs();
// init_servos - initialize the servos
void init_servos();
// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position // calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
void calculate_roll_pitch_collective_factors(); void calculate_roll_pitch_collective_factors();
// heli_move_swash - moves swash plate to attitude of parameters passed in // heli_move_actuators - moves swash plate and tail rotor
void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out); void move_actuators(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);
// move_yaw - moves the yaw servo // move_yaw - moves the yaw servo
void move_yaw(int16_t yaw_out); void move_yaw(int16_t yaw_out);