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AP_Motors: refactor to allow frame type symbols to be created for ELF

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This commit is contained in:
Henry Wurzburg 2022-08-02 16:15:44 -05:00 committed by Andrew Tridgell
parent 44ce44b2fa
commit 8b02f11c23
2 changed files with 711 additions and 660 deletions
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133
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -569,19 +569,9 @@ void AP_MotorsMatrix::add_motors_raw(const struct MotorDefRaw *motors, uint8_t n
add_motor_raw(i, m.roll_fac, m.pitch_fac, m.yaw_fac, m.testing_order);
}
}
void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_type frame_type)
{
// remove existing motors
for (int8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
remove_motor(i);
}
set_initialised_ok(false);
bool success = true;
switch (frame_class) {
#if AP_MOTORS_FRAME_QUAD_ENABLED
case MOTOR_FRAME_QUAD:
bool AP_MotorsMatrix::setup_quad_matrix(motor_frame_type frame_type)
{
_frame_class_string = "QUAD";
_mav_type = MAV_TYPE_QUADROTOR;
switch (frame_type) {
@ -748,7 +738,7 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motor(AP_MOTORS_MOT_3, -60, -60, 0, 4);
add_motor(AP_MOTORS_MOT_4, 0, 160, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
break;
case MOTOR_FRAME_TYPE_PLUSREV:{
case MOTOR_FRAME_TYPE_PLUSREV: {
// plus with reversed motor directions
_frame_type_string = "PLUSREV";
static const AP_MotorsMatrix::MotorDef motors[] {
@ -774,13 +764,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
default:
// quad frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
success = false;
break;
return false;
}
break; // quad
return true;
}
#endif //AP_MOTORS_FRAME_QUAD_ENABLED
#if AP_MOTORS_FRAME_HEXA_ENABLED
case MOTOR_FRAME_HEXA:
bool AP_MotorsMatrix::setup_hexa_matrix(motor_frame_type frame_type)
{
_frame_class_string = "HEXA";
_mav_type = MAV_TYPE_HEXAROTOR;
switch (frame_type) {
@ -853,13 +844,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
default:
// hexa frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
success = false;
break;
}
break;
#endif //AP_MOTORS_FRAME_HEXA_ENABLED
return false;
} //hexa
return true;
}
#endif ////AP_MOTORS_FRAME_HEXA_ENABLED
#if AP_MOTORS_FRAME_OCTA_ENABLED
case MOTOR_FRAME_OCTA:
bool AP_MotorsMatrix::setup_octa_matrix(motor_frame_type frame_type)
{
_frame_class_string = "OCTA";
_mav_type = MAV_TYPE_OCTOROTOR;
switch (frame_type) {
@ -972,13 +964,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
default:
// octa frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
success = false;
break;
return false;
} // octa frame type
break;
return true;
}
#endif //AP_MOTORS_FRAME_OCTA_ENABLED
#if AP_MOTORS_FRAME_OCTAQUAD_ENABLED
case MOTOR_FRAME_OCTAQUAD:
bool AP_MotorsMatrix::setup_octaquad_matrix(motor_frame_type frame_type)
{
_mav_type = MAV_TYPE_OCTOROTOR;
_frame_class_string = "OCTAQUAD";
switch (frame_type) {
@ -1094,13 +1087,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
default:
// octaquad frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
success = false;
break;
}
break;
#endif //AP_MOTORS_FRAME_OCTAQUAD_ENABLED
return false;
} //octaquad
return true;
}
#endif // AP_MOTORS_FRAME_OCTAQUAD_ENABLED
#if AP_MOTORS_FRAME_DODECAHEXA_ENABLED
case MOTOR_FRAME_DODECAHEXA: {
bool AP_MotorsMatrix::setup_dodecahexa_matrix(motor_frame_type frame_type)
{
_mav_type = MAV_TYPE_DODECAROTOR;
_frame_class_string = "DODECAHEXA";
switch (frame_type) {
@ -1145,13 +1139,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
default:
// dodeca-hexa frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
success = false;
break;
}}
break;
return false;
} //dodecahexa
return true;
}
#endif //AP_MOTORS_FRAME_DODECAHEXA_ENABLED
#if AP_MOTORS_FRAME_Y6_ENABLED
case MOTOR_FRAME_Y6:
bool AP_MotorsMatrix::setup_y6_matrix(motor_frame_type frame_type)
{
_mav_type = MAV_TYPE_HEXAROTOR;
_frame_class_string = "Y6";
switch (frame_type) {
@ -1196,11 +1191,13 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
add_motors_raw(motors, ARRAY_SIZE(motors));
break;
}
}
break;
#endif //AP_MOTORS_FRAME_Y6_ENABLED
} //y6
return true;
}
#endif // AP_MOTORS_FRAME_Y6_ENABLED
#if AP_MOTORS_FRAME_DECA_ENABLED
case MOTOR_FRAME_DECA:
bool AP_MotorsMatrix::setup_deca_matrix(motor_frame_type frame_type)
{
_mav_type = MAV_TYPE_DECAROTOR;
_frame_class_string = "DECA";
switch (frame_type) {
@ -1241,9 +1238,55 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
}
default:
// deca frame class does not support this frame type
success = false;
break;
return false;
} //deca
return true;
}
#endif // AP_MOTORS_FRAME_DECA_ENABLED
void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_type frame_type)
{
// remove existing motors
for (int8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
remove_motor(i);
}
set_initialised_ok(false);
bool success = true;
switch (frame_class) {
#if AP_MOTORS_FRAME_QUAD_ENABLED
case MOTOR_FRAME_QUAD:
success = setup_quad_matrix(frame_type);
break; // quad
#endif //AP_MOTORS_FRAME_QUAD_ENABLED
#if AP_MOTORS_FRAME_HEXA_ENABLED
case MOTOR_FRAME_HEXA:
success = setup_hexa_matrix(frame_type);
break;
#endif //AP_MOTORS_FRAME_HEXA_ENABLED
#if AP_MOTORS_FRAME_OCTA_ENABLED
case MOTOR_FRAME_OCTA:
success = setup_octa_matrix(frame_type);
break;
#endif //AP_MOTORS_FRAME_OCTA_ENABLED
#if AP_MOTORS_FRAME_OCTAQUAD_ENABLED
case MOTOR_FRAME_OCTAQUAD:
success = setup_octaquad_matrix(frame_type);
break;
#endif //AP_MOTORS_FRAME_OCTAQUAD_ENABLED
#if AP_MOTORS_FRAME_DODECAHEXA_ENABLED
case MOTOR_FRAME_DODECAHEXA:
success = setup_dodecahexa_matrix(frame_type);
break;
#endif //AP_MOTORS_FRAME_DODECAHEXA_ENABLED
#if AP_MOTORS_FRAME_Y6_ENABLED
case MOTOR_FRAME_Y6:
success = setup_y6_matrix(frame_type);
break;
#endif //AP_MOTORS_FRAME_Y6_ENABLED
#if AP_MOTORS_FRAME_DECA_ENABLED
case MOTOR_FRAME_DECA:
success = setup_deca_matrix(frame_type);
break;
#endif //AP_MOTORS_FRAME_DECA_ENABLED
default:
@ -1252,8 +1295,6 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
success = false;
_mav_type = MAV_TYPE_GENERIC;
break;
} // switch frame_class
// normalise factors to magnitude 0.5

10
libraries/AP_Motors/AP_MotorsMatrix.h
View File

@ -150,6 +150,16 @@ protected:
const char* _frame_class_string = ""; // string representation of frame class
const char* _frame_type_string = ""; // string representation of frame type
private:
// setup motors matrix
bool setup_quad_matrix(motor_frame_type frame_type);
bool setup_hexa_matrix(motor_frame_type frame_type);
bool setup_octa_matrix(motor_frame_type frame_type);
bool setup_deca_matrix(motor_frame_type frame_type);
bool setup_dodecahexa_matrix(motor_frame_type frame_type);
bool setup_y6_matrix(motor_frame_type frame_type);
bool setup_octaquad_matrix(motor_frame_type frame_type);
static AP_MotorsMatrix *_singleton;
};