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AP_Motors: added MOT_BOOST_SCALE 

this is to support boost motors for copters, such as having a petrol
motor for extra lift on a multicopter

The scaling factor allows the user to control how much of the lift is
generated from the booster and how much from the main multicopter
motors
This commit is contained in:
Andrew Tridgell 2017-04-17 20:05:18 +10:00
parent 2168222d4b
commit bdc4320fe8
2 changed files with 27 additions and 0 deletions
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21
libraries/AP_Motors/AP_MotorsMulticopter.cpp
View File

@ -162,6 +162,14 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("SPOOL_TIME", 36, AP_MotorsMulticopter, _spool_up_time, AP_MOTORS_SPOOL_UP_TIME_DEFAULT),
// @Param: BOOST_SCALE
// @DisplayName: Motor boost scale
// @Description: This is a scaling factor for vehicles with a vertical booster motor used for extra lift. It is used with electric multicopters that have an internal combusion booster motor for longer endurance. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
// @Range: 0 5
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("BOOST_SCALE", 37, AP_MotorsMulticopter, _boost_scale, 0),
AP_GROUPEND
};
@ -217,8 +225,21 @@ void AP_MotorsMulticopter::output()
// convert rpy_thrust values to pwm
output_to_motors();
// output any booster throttle
output_boost_throttle();
};
// output booster throttle, if any
void AP_MotorsMulticopter::output_boost_throttle(void)
{
if (_boost_scale > 0) {
float throttle = constrain_float(get_throttle() * _boost_scale, 0, 1);
SRV_Channels::set_output_scaled(SRV_Channel::k_boost_throttle, throttle*1000);
}
}
// sends minimum values out to the motors
void AP_MotorsMulticopter::output_min()
{

6
libraries/AP_Motors/AP_MotorsMulticopter.h
View File

@ -137,6 +137,9 @@ protected:
// apply any thrust compensation for the frame
virtual void thrust_compensation(void) {}
// output booster throttle, if any
virtual void output_boost_throttle(void);
// save parameters as part of disarming
void save_params_on_disarm();
@ -168,6 +171,9 @@ protected:
// time to spool motors to min throttle
AP_Float _spool_up_time;
// scaling for booster motor throttle
AP_Float _boost_scale;
// motor output variables
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled