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Copter: implement safety spin for Tricopters

This commit is contained in:
Randy Mackay 2013-07-16 12:46:34 +09:00
parent 6477c746cd
commit b709b90a59
1 changed files with 49 additions and 50 deletions
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99
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -71,70 +71,69 @@ void AP_MotorsTri::output_min()
// output_armed - sends commands to the motors // output_armed - sends commands to the motors
void AP_MotorsTri::output_armed() void AP_MotorsTri::output_armed()
{ {
int16_t out_min = _rc_throttle->radio_min; int16_t out_min = _rc_throttle->radio_min + _min_throttle;
int16_t out_max = _rc_throttle->radio_max; int16_t out_max = _rc_throttle->radio_max;
// Throttle is 0 to 1000 only // Throttle is 0 to 1000 only
_rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle); _rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle);
if(_rc_throttle->servo_out > 0)
out_min = _rc_throttle->radio_min + _min_throttle;
// capture desired roll, pitch, yaw and throttle from receiver // capture desired roll, pitch, yaw and throttle from receiver
_rc_roll->calc_pwm(); _rc_roll->calc_pwm();
_rc_pitch->calc_pwm(); _rc_pitch->calc_pwm();
_rc_throttle->calc_pwm(); _rc_throttle->calc_pwm();
_rc_yaw->calc_pwm(); _rc_yaw->calc_pwm();
int roll_out = (float)_rc_roll->pwm_out * 0.866f;
int pitch_out = _rc_pitch->pwm_out / 2;
//left front
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out;
//right front
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_out - roll_out + pitch_out;
// rear
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_out - _rc_pitch->pwm_out;
// Tridge's stability patch
if(motor_out[AP_MOTORS_MOT_1] > out_max) {
motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_1] = out_max;
}
if(motor_out[AP_MOTORS_MOT_2] > out_max) {
motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_2] = out_max;
}
if(motor_out[AP_MOTORS_MOT_4] > out_max) {
motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_4] = out_max;
}
// adjust for throttle curve
if( _throttle_curve_enabled ) {
motor_out[AP_MOTORS_MOT_1] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_1]);
motor_out[AP_MOTORS_MOT_2] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_2]);
motor_out[AP_MOTORS_MOT_4] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_4]);
}
// ensure motors don't drop below a minimum value and stop
motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], out_min);
motor_out[AP_MOTORS_MOT_2] = max(motor_out[AP_MOTORS_MOT_2], out_min);
motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
#if CUT_MOTORS == ENABLED
// if we are not sending a throttle output, we cut the motors // if we are not sending a throttle output, we cut the motors
if(_rc_throttle->servo_out == 0) { if(_rc_throttle->servo_out == 0) {
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min; // range check spin_when_armed
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min; if (_spin_when_armed < 0) {
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min; _spin_when_armed = 0;
}
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min + _spin_when_armed;
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min + _spin_when_armed;
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min + _spin_when_armed;
}else{
int16_t roll_out = (float)_rc_roll->pwm_out * 0.866f;
int16_t pitch_out = _rc_pitch->pwm_out / 2;
//left front
motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out;
//right front
motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_out - roll_out + pitch_out;
// rear
motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_out - _rc_pitch->pwm_out;
// Tridge's stability patch
if(motor_out[AP_MOTORS_MOT_1] > out_max) {
motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_1] = out_max;
}
if(motor_out[AP_MOTORS_MOT_2] > out_max) {
motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_2] = out_max;
}
if(motor_out[AP_MOTORS_MOT_4] > out_max) {
motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
motor_out[AP_MOTORS_MOT_4] = out_max;
}
// adjust for throttle curve
if( _throttle_curve_enabled ) {
motor_out[AP_MOTORS_MOT_1] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_1]);
motor_out[AP_MOTORS_MOT_2] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_2]);
motor_out[AP_MOTORS_MOT_4] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_4]);
}
// ensure motors don't drop below a minimum value and stop
motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], out_min);
motor_out[AP_MOTORS_MOT_2] = max(motor_out[AP_MOTORS_MOT_2], out_min);
motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
} }
#endif
// send output to each motor // send output to each motor
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]); hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);