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TradHeli: add support for drive tail rotors

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Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
This commit is contained in:
Robert Lefebvre 2013-07-22 15:23:16 -04:00 committed by Randy Mackay
parent 232a116973
commit 9ae66c1773
5 changed files with 73 additions and 35 deletions
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2
ArduCopter/ArduCopter.pde
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@ -2232,7 +2232,7 @@ static void tuning(){
#if FRAME_CONFIG == HELI_FRAME
case CH6_HELI_EXTERNAL_GYRO:
motors.ext_gyro_gain(tuning_value);
motors.ch7_pwm_setpoint(tuning_value);
break;
#endif

4
ArduCopter/Attitude.pde
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@ -83,7 +83,7 @@ get_stabilize_yaw(int32_t target_angle)
// do not use rate controllers for helicotpers with external gyros
#if FRAME_CONFIG == HELI_FRAME
if(motors.ext_gyro_enabled()) {
if(motors.tail_type() == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
g.rc_4.servo_out = constrain_int32(target_rate, -4500, 4500);
}
#endif
@ -446,7 +446,7 @@ run_rate_controllers()
// convert desired roll and pitch rate to roll and pitch swash angles
heli_integrated_swash_controller(roll_rate_target_bf, pitch_rate_target_bf);
// helicopters only use rate controllers for yaw and only when not using an external gyro
if(!motors.ext_gyro_enabled()) {
if(motors.tail_type() != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
g.rc_4.servo_out = get_heli_rate_yaw(yaw_rate_target_bf);
}else{
// do not use rate controllers for helicotpers with external gyros

4
ArduCopter/Log.pde
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@ -239,7 +239,7 @@ struct PACKED log_Motors {
int16_t motor_out[6];
#elif FRAME_CONFIG == HELI_FRAME
int16_t motor_out[4];
int16_t ext_gyro_gain;
int16_t ch7_pwm_setpoint;
#else // quads & TRI_FRAME
int16_t motor_out[4];
#endif
@ -271,7 +271,7 @@ static void Log_Write_Motors()
motors.motor_out[AP_MOTORS_MOT_2],
motors.motor_out[AP_MOTORS_MOT_3],
motors.motor_out[AP_MOTORS_MOT_4]},
ext_gyro_gain : motors.ext_gyro_gain()
ch7_pwm_setpoint:motors.ch7_pwm_setpoint()
#elif FRAME_CONFIG == TRI_FRAME
motor_out : {motors.motor_out[AP_MOTORS_MOT_1],
motors.motor_out[AP_MOTORS_MOT_2],

68
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -100,12 +100,12 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("COL_MID", 8, AP_MotorsHeli, _collective_mid, AP_MOTORS_HELI_COLLECTIVE_MID),
// @Param: GYR_ENABLE
// @DisplayName: External Gyro Enabled
// @Description: Enabled/Disable an external rudder gyro connected to channel 7. With no external gyro a more complex yaw controller is used
// @Values: 0:Disabled,1:Enabled
// @Param: TAIL_TYPE
// @DisplayName: Tail Type
// @Description: Tail type selection. Simpler yaw controller used if external gyro is selected
// @Values: 0:Servo only,1:Servo w/ ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch
// @User: Standard
AP_GROUPINFO("GYR_ENABLE",9, AP_MotorsHeli, _ext_gyro_enabled, 0),
AP_GROUPINFO("TAIL_TYPE",9, AP_MotorsHeli, _tail_type, AP_MOTORS_HELI_TAILTYPE_SERVO),
// @Param: SWASH_TYPE
// @DisplayName: Swash Type
@ -114,14 +114,14 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("SWASH_TYPE",10, AP_MotorsHeli, _swash_type, AP_MOTORS_HELI_SWASH_CCPM),
// @Param: GYR_GAIN
// @DisplayName: External Gyro Gain
// @Description: PWM sent to the external gyro on Ch7
// @Param: CH7_SETPOINT
// @DisplayName: Ch7 PWM Setpoint
// @Description: PWM output on Ch7 for External Gyro gain or Variable Pitch Direct Drive speed
// @Range: 1000 2000
// @Units: PWM
// @Increment: 10
// @User: Standard
AP_GROUPINFO("GYR_GAIN",11, AP_MotorsHeli, _ext_gyro_gain, AP_MOTORS_HELI_EXT_GYRO_GAIN),
AP_GROUPINFO("CH7_SETPOINT", 11, AP_MotorsHeli, _ch7_pwm_setpoint, 1000),
// @Param: SV_MAN
// @DisplayName: Manual Servo Mode
@ -242,12 +242,12 @@ void AP_MotorsHeli::set_update_rate( uint16_t speed_hz )
void AP_MotorsHeli::enable()
{
// enable output channels
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_1]); // swash servo 1
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_2]); // swash servo 2
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_3]); // swash servo 3
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_4]); // yaw
hal.rcout->enable_ch(AP_MOTORS_HELI_EXT_GYRO); // for external gyro
hal.rcout->enable_ch(AP_MOTORS_HELI_EXT_RSC); // for external RSC
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_1]); // swash servo 1
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_2]); // swash servo 2
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_3]); // swash servo 3
hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_4]); // yaw
hal.rcout->enable_ch(AP_MOTORS_HELI_AUX); // output for gyro gain or direct drive variable pitch tail motor
hal.rcout->enable_ch(AP_MOTORS_HELI_RSC); // output for main rotor esc
}
// output_min - sends minimum values out to the motors
@ -302,8 +302,8 @@ void AP_MotorsHeli::output_test()
}
// external gyro
if (_ext_gyro_enabled) {
hal.rcout->write(AP_MOTORS_HELI_EXT_GYRO, _ext_gyro_gain);
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
hal.rcout->write(AP_MOTORS_HELI_AUX, _ch7_pwm_setpoint);
}
// servo 4
@ -578,7 +578,7 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
// rudder feed forward based on collective
if (!_ext_gyro_enabled) {
if (_tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
yaw_offset = _collective_yaw_effect * abs(coll_out_scaled - _collective_mid_pwm);
}
}
@ -621,9 +621,33 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
motor_out[AP_MOTORS_MOT_3] = _servo_3->radio_out;
motor_out[AP_MOTORS_MOT_4] = _servo_4->radio_out;
// output gyro value
if (_ext_gyro_enabled) {
hal.rcout->write(AP_MOTORS_HELI_EXT_GYRO, _ext_gyro_gain);
switch (_tail_type) {
case AP_MOTORS_HELI_TAILTYPE_SERVO:
// do nothing
break;
case AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO:
// output gyro value
hal.rcout->write(AP_MOTORS_HELI_AUX, _ch7_pwm_setpoint);
break;
case AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_VARPITCH:
// switch on the motor if Ch8 is not low
if (armed() && _rc_8->control_in > 100) {
hal.rcout->write(AP_MOTORS_HELI_AUX, _ch7_pwm_setpoint);
} else {
hal.rcout->write(AP_MOTORS_HELI_AUX, AP_MOTOR_HELI_TAIL_TYPE_DIRECTDRIVE_PWM_MIN);
}
break;
case AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH:
// output fixed-pitch speed control if Ch8 is high
if (armed() && _rc_8->control_in > 100) {
hal.rcout->write(AP_MOTORS_HELI_AUX, _servo_4->radio_out);
} else {
hal.rcout->write(AP_MOTORS_HELI_AUX, AP_MOTOR_HELI_TAIL_TYPE_DIRECTDRIVE_PWM_MIN);
}
break;
}
}
@ -668,7 +692,7 @@ void AP_MotorsHeli::rsc_control()
case AP_MOTORS_HELI_RSC_MODE_EXT_GOVERNOR:
if (armed() && _rc_8->control_in > 100) {
if (armed() && _rc_8->control_in > 400) {
if (_rsc_ramp < _rsc_ramp_up_rate) {
_rsc_ramp++;
_rsc_output = map(_rsc_ramp, 0, _rsc_ramp_up_rate, 1000, _ext_gov_setpoint);

30
libraries/AP_Motors/AP_MotorsHeli.h
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@ -24,6 +24,10 @@
#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
// TradHeli Aux Function Output Channels
#define AP_MOTORS_HELI_AUX CH_7
#define AP_MOTORS_HELI_RSC CH_8
// servo position defaults
#define AP_MOTORS_HELI_SERVO1_POS -60
#define AP_MOTORS_HELI_SERVO2_POS 60
@ -47,8 +51,18 @@
// swash min while landed or landing (as a number from 0 ~ 1000
#define AP_MOTORS_HELI_LAND_COLLECTIVE_MIN 0
// tail types
#define AP_MOTORS_HELI_TAILTYPE_SERVO 0
#define AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO 1
#define AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_VARPITCH 2
#define AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH 3
// default external gyro gain (ch7 out)
#define AP_MOTORS_HELI_EXT_GYRO_GAIN 1350
#define AP_MOTORS_HELI_CH7_PWM_SETPOINT 1350
// minimum outputs for direct drive motors
#define AP_MOTOR_HELI_TAIL_TYPE_DIRECTDRIVE_PWM_MIN 1000
// main rotor speed control types (ch8 out)
#define AP_MOTORS_HELI_RSC_MODE_NONE 0 // main rotor ESC is directly connected to receiver
@ -131,12 +145,12 @@ public:
// allow_arming - returns true if main rotor is spinning and it is ok to arm
bool allow_arming();
// ext_gyro_enabled - returns true if we have an external gyro for yaw control
bool ext_gyro_enabled() { return _ext_gyro_enabled; }
// _tail_type - returns the tail type (servo, servo with ext gyro, direct drive var pitch, direct drive fixed pitch)
int16_t tail_type() { return _tail_type; }
// ext_gyro_gain - gets and sets external gyro gain output on ch7
int16_t ext_gyro_gain() { return _ext_gyro_gain; }
void ext_gyro_gain(int16_t gain) { _ext_gyro_gain = gain; }
// ch7_pwm_setpoint - gets and sets pwm output on ch7 (for gyro gain or direct drive tail motors)
int16_t ch7_pwm_setpoint() { return _ch7_pwm_setpoint; }
void ch7_pwm_setpoint(int16_t pwm) { _ch7_pwm_setpoint = pwm; }
// has_flybar - returns true if we have a mechical flybar
bool has_flybar() { return _flybar_mode; }
@ -209,9 +223,9 @@ private:
AP_Int16 _collective_min; // Lowest possible servo position for the swashplate
AP_Int16 _collective_max; // Highest possible servo position for the swashplate
AP_Int16 _collective_mid; // Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)
AP_Int16 _ext_gyro_enabled; // Enabled/Disable an external rudder gyro connected to channel 7. With no external gyro a more complex yaw controller is used
AP_Int16 _tail_type; // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
AP_Int8 _swash_type; // Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
AP_Int16 _ext_gyro_gain; // PWM sent to the external gyro on Ch7
AP_Int16 _ch7_pwm_setpoint; // PWM sent to Ch7 for ext gyro gain or direct drive variable pitch motor
AP_Int8 _servo_manual; // Pass radio inputs directly to servos during set-up through mission planner
AP_Int16 _phase_angle; // Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem
AP_Int16 _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.