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https://github.com/ArduPilot/ardupilot
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AP_Motors: allow single, tri and coax to be part of multicopter class
This commit is contained in:
Andrew Tridgell
parent
0f6d0c5ba9
commit
8e3bf71aa9
@ -27,32 +27,9 @@
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_MotorsCoax::var_info[] = {
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// variables from parent vehicle
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AP_NESTEDGROUPINFO(AP_MotorsMulticopter, 0),
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// parameters 1 ~ 29 were reserved for tradheli
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// parameters 30 ~ 39 reserved for tricopter
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// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
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// 40 was ROLL_SV_REV
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// 41 was PITCH_SV_REV
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// 42 was YAW_SV_REV
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// @Param: SV_SPEED
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// @DisplayName: Servo speed
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// @Description: Servo update speed
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// @Units: Hz
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AP_GROUPINFO("SV_SPEED", 43, AP_MotorsCoax, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS),
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AP_GROUPEND
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};
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// init
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void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_type)
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{
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// set update rate for the 3 motors (but not the servo on channel 7)
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set_update_rate(_speed_hz);
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_servo1 = SRV_Channels::get_channel_for(SRV_Channel::k_motor1, CH_1);
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_servo2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
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_servo3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
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@ -89,17 +66,10 @@ void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
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// record requested speed
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_speed_hz = speed_hz;
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// set update rate for the 4 servos and 2 motors
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uint32_t mask =
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1U << AP_MOTORS_MOT_1 |
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1U << AP_MOTORS_MOT_2 |
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1U << AP_MOTORS_MOT_3 |
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1U << AP_MOTORS_MOT_4 ;
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rc_set_freq(mask, _servo_speed);
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uint32_t mask2 =
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1U << AP_MOTORS_MOT_5 |
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1U << AP_MOTORS_MOT_6 ;
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rc_set_freq(mask2, _speed_hz);
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rc_set_freq(mask, _speed_hz);
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}
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// enable - starts allowing signals to be sent to motors
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@ -26,7 +26,6 @@ public:
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AP_MotorsCoax(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
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{
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AP_Param::setup_object_defaults(this, var_info);
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};
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// init
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@ -53,16 +52,10 @@ public:
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// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
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virtual uint16_t get_motor_mask();
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing();
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// servo speed
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AP_Int16 _servo_speed;
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float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
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float _thrust_yt_ccw;
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float _thrust_yt_cw;
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@ -145,6 +145,15 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
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// @User: Advanced
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AP_GROUPINFO("SAFE_DISARM", 23, AP_MotorsMulticopter, _disarm_disable_pwm, 0),
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// @Param: YAW_SV_ANGLE
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// @DisplayName: Yaw Servo Max Lean Angle
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// @Description: Yaw servo's maximum lean angle
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// @Range: 5 80
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// @Units: Degrees
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("YAW_SV_ANGLE", 35, AP_MotorsMulticopter, _yaw_servo_angle_max_deg, 30),
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AP_GROUPEND
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};
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@ -163,6 +163,9 @@ protected:
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AP_Int8 _throttle_hover_learn; // enable/disabled hover thrust learning
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AP_Int8 _disarm_disable_pwm; // disable PWM output while disarmed
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// Maximum lean angle of yaw servo in degrees. This is specific to tricopter
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AP_Float _yaw_servo_angle_max_deg;
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// motor output variables
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bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled
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int16_t _throttle_radio_min; // minimum PWM from RC input's throttle channel (i.e. minimum PWM input from receiver, RC3_MIN)
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@ -27,26 +27,6 @@
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_MotorsSingle::var_info[] = {
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// variables from parent vehicle
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AP_NESTEDGROUPINFO(AP_MotorsMulticopter, 0),
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// parameters 1 ~ 29 were reserved for tradheli
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// parameters 30 ~ 39 reserved for tricopter
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// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
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// 40 was ROLL_SV_REV
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// 41 was PITCH_SV_REV
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// 42 was YAW_SV_REV
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// @Param: SV_SPEED
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// @DisplayName: Servo speed
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// @Description: Servo update speed in hz
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// @Values: 50, 125, 250
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AP_GROUPINFO("SV_SPEED", 43, AP_MotorsSingle, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS),
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AP_GROUPEND
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};
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// init
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void AP_MotorsSingle::init(motor_frame_class frame_class, motor_frame_type frame_type)
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{
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@ -92,17 +72,10 @@ void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
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// record requested speed
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_speed_hz = speed_hz;
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// set update rate for the 3 motors (but not the servo on channel 7)
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uint32_t mask =
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1U << AP_MOTORS_MOT_1 |
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1U << AP_MOTORS_MOT_2 |
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1U << AP_MOTORS_MOT_3 |
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1U << AP_MOTORS_MOT_4 ;
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rc_set_freq(mask, _servo_speed);
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uint32_t mask2 =
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1U << AP_MOTORS_MOT_5 |
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1U << AP_MOTORS_MOT_6 ;
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rc_set_freq(mask2, _speed_hz);
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rc_set_freq(mask, _speed_hz);
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}
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// enable - starts allowing signals to be sent to motors
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@ -26,7 +26,6 @@ public:
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AP_MotorsSingle(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
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{
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AP_Param::setup_object_defaults(this, var_info);
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};
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// init
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@ -53,16 +52,10 @@ public:
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// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
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virtual uint16_t get_motor_mask();
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing();
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// servo speed
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AP_Int16 _servo_speed;
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int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
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float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
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float _thrust_out;
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@ -33,15 +33,6 @@ const AP_Param::GroupInfo AP_MotorsTri::var_info[] = {
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// parameters 30 ~ 39 reserved for tricopter
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// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
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// @Param: YAW_SV_ANGLE
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// @DisplayName: Yaw Servo Max Lean Angle
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// @Description: Yaw servo's maximum lean angle
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// @Range: 5 80
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// @Units: Degrees
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("YAW_SV_ANGLE", 35, AP_MotorsTri, _yaw_servo_angle_max_deg, 30),
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AP_GROUPEND
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};
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@ -64,7 +64,6 @@ protected:
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// parameters
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SRV_Channel *_yaw_servo; // yaw output channel
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AP_Float _yaw_servo_angle_max_deg; // Maximum lean angle of yaw servo in degrees
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float _pivot_angle; // Angle of yaw pivot
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float _thrust_right;
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float _thrust_rear;
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