mirror of https://github.com/ArduPilot/ardupilot
AP_RPM: added a new RPM driver based on ESC telem
this adds a new RPM driver based on average RPM of selected motors. A new bitmask parameter has been added to select which motor to average.
This commit is contained in:
yaapu
Peter Barker
parent
b4d54cf565
commit
cdc874c366
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@ -18,6 +18,7 @@
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#include "RPM_SITL.h"
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#include "RPM_EFI.h"
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#include "RPM_HarmonicNotch.h"
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#include "RPM_ESC_Telem.h"
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extern const AP_HAL::HAL& hal;
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@ -26,7 +27,7 @@ const AP_Param::GroupInfo AP_RPM::var_info[] = {
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// @Param: _TYPE
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// @DisplayName: RPM type
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// @Description: What type of RPM sensor is connected
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// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch
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// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask
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// @User: Standard
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AP_GROUPINFO("_TYPE", 0, AP_RPM, _type[0], 0),
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@ -64,12 +65,19 @@ const AP_Param::GroupInfo AP_RPM::var_info[] = {
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// @Values: -1:Disabled,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6
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// @User: Standard
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AP_GROUPINFO("_PIN", 5, AP_RPM, _pin[0], 54),
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// @Param: _ESC_MASK
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// @DisplayName: Bitmask of ESC telemetry channels to average
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// @Description: Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
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// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
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// @User: Advanced
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AP_GROUPINFO("_ESC_MASK", 6, AP_RPM, _esc_mask[0], 0),
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#if RPM_MAX_INSTANCES > 1
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// @Param: 2_TYPE
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// @DisplayName: Second RPM type
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// @Description: What type of RPM sensor is connected
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// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch
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// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask
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// @User: Advanced
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AP_GROUPINFO("2_TYPE", 10, AP_RPM, _type[1], 0),
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@ -86,6 +94,13 @@ const AP_Param::GroupInfo AP_RPM::var_info[] = {
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// @Values: -1:Disabled,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6
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// @User: Standard
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AP_GROUPINFO("2_PIN", 12, AP_RPM, _pin[1], -1),
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// @Param: 2_ESC_MASK
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// @DisplayName: Bitmask of ESC telemetry channels to average
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// @Description: Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
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// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
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// @User: Advanced
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AP_GROUPINFO("2_ESC_MASK", 13, AP_RPM, _esc_mask[1], 0),
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#endif
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AP_GROUPEND
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@ -102,7 +117,7 @@ AP_RPM::AP_RPM(void)
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}
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/*
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initialise the AP_RPM class.
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initialise the AP_RPM class.
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*/
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void AP_RPM::init(void)
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{
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@ -111,31 +126,33 @@ void AP_RPM::init(void)
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return;
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}
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for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
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uint8_t type = _type[i];
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switch (_type[i]) {
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
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if (type == RPM_TYPE_PWM) {
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case RPM_TYPE_PWM:
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case RPM_TYPE_PIN:
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// PWM option same as PIN option, for upgrade
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type = RPM_TYPE_PIN;
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}
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if (type == RPM_TYPE_PIN) {
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drivers[i] = new AP_RPM_Pin(*this, i, state[i]);
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}
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break;
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#endif
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case RPM_TYPE_ESC_TELEM:
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drivers[i] = new AP_RPM_ESC_Telem(*this, i, state[i]);
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break;
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#if HAL_EFI_ENABLED
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if (type == RPM_TYPE_EFI) {
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case RPM_TYPE_EFI:
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drivers[i] = new AP_RPM_EFI(*this, i, state[i]);
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}
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break;
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#endif
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// include harmonic notch last
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// this makes whatever process is driving the dynamic notch appear as an RPM value
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if (type == RPM_TYPE_HNTCH) {
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case RPM_TYPE_HNTCH:
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drivers[i] = new AP_RPM_HarmonicNotch(*this, i, state[i]);
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}
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break;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (type == RPM_TYPE_SITL) {
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case RPM_TYPE_SITL:
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drivers[i] = new AP_RPM_SITL(*this, i, state[i]);
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}
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break;
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#endif
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}
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if (drivers[i] != nullptr) {
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// we loaded a driver for this instance, so it must be
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// present (although it may not be healthy)
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@ -161,7 +178,7 @@ void AP_RPM::update(void)
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}
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}
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}
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/*
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check if an instance is healthy
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*/
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@ -42,6 +42,7 @@ public:
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RPM_TYPE_PIN = 2,
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RPM_TYPE_EFI = 3,
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RPM_TYPE_HNTCH = 4,
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RPM_TYPE_ESC_TELEM = 5,
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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RPM_TYPE_SITL = 10,
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#endif
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@ -62,6 +63,7 @@ public:
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AP_Float _maximum[RPM_MAX_INSTANCES];
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AP_Float _minimum[RPM_MAX_INSTANCES];
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AP_Float _quality_min[RPM_MAX_INSTANCES];
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AP_Int32 _esc_mask[RPM_MAX_INSTANCES];
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static const struct AP_Param::GroupInfo var_info[];
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@ -0,0 +1,42 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_ESC_Telem/AP_ESC_Telem.h>
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#include "RPM_ESC_Telem.h"
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extern const AP_HAL::HAL& hal;
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/*
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open the sensor in constructor
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*/
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AP_RPM_ESC_Telem::AP_RPM_ESC_Telem(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
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AP_RPM_Backend(_ap_rpm, _instance, _state)
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{
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instance = _instance;
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}
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void AP_RPM_ESC_Telem::update(void)
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{
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#ifdef HAL_WITH_ESC_TELEM
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AP_ESC_Telem &esc_telem = AP::esc_telem();
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float esc_rpm = esc_telem.get_average_motor_rpm(ap_rpm._esc_mask[state.instance]);
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state.rate_rpm = esc_rpm * ap_rpm._scaling[state.instance];
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state.signal_quality = 0.5f;
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state.last_reading_ms = AP_HAL::millis();
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#endif
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}
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@ -0,0 +1,30 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_RPM.h"
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#include "RPM_Backend.h"
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class AP_RPM_ESC_Telem : public AP_RPM_Backend
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{
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public:
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// constructor
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AP_RPM_ESC_Telem(AP_RPM &ranger, uint8_t instance, AP_RPM::RPM_State &_state);
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// update state
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void update(void) override;
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private:
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uint8_t instance;
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};
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