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 2021-06-03 09:27:54 +02:00 committed by Peter Barker
parent b4d54cf565
commit cdc874c366
4 changed files with 108 additions and 17 deletions

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@ -18,6 +18,7 @@
#include "RPM_SITL.h"
#include "RPM_EFI.h"
#include "RPM_HarmonicNotch.h"
#include "RPM_ESC_Telem.h"
extern const AP_HAL::HAL& hal;
@ -26,7 +27,7 @@ const AP_Param::GroupInfo AP_RPM::var_info[] = {
// @Param: _TYPE
// @DisplayName: RPM type
// @Description: What type of RPM sensor is connected
// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch
// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask
// @User: Standard
AP_GROUPINFO("_TYPE", 0, AP_RPM, _type[0], 0),
@ -65,11 +66,18 @@ const AP_Param::GroupInfo AP_RPM::var_info[] = {
// @User: Standard
AP_GROUPINFO("_PIN", 5, AP_RPM, _pin[0], 54),
// @Param: _ESC_MASK
// @DisplayName: Bitmask of ESC telemetry channels to average
// @Description: Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
// @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
// @User: Advanced
AP_GROUPINFO("_ESC_MASK", 6, AP_RPM, _esc_mask[0], 0),
#if RPM_MAX_INSTANCES > 1
// @Param: 2_TYPE
// @DisplayName: Second RPM type
// @Description: What type of RPM sensor is connected
// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch
// @Values: 0:None,1:PWM,2:AUXPIN,3:EFI,4:Harmonic Notch,5:ESC Telemetry Motors Bitmask
// @User: Advanced
AP_GROUPINFO("2_TYPE", 10, AP_RPM, _type[1], 0),
@ -86,6 +94,13 @@ const AP_Param::GroupInfo AP_RPM::var_info[] = {
// @Values: -1:Disabled,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6
// @User: Standard
AP_GROUPINFO("2_PIN", 12, AP_RPM, _pin[1], -1),
// @Param: 2_ESC_MASK
// @DisplayName: Bitmask of ESC telemetry channels to average
// @Description: Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
// @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
// @User: Advanced
AP_GROUPINFO("2_ESC_MASK", 13, AP_RPM, _esc_mask[1], 0),
#endif
AP_GROUPEND
@ -111,31 +126,33 @@ void AP_RPM::init(void)
return;
}
for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
uint8_t type = _type[i];
switch (_type[i]) {
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (type == RPM_TYPE_PWM) {
case RPM_TYPE_PWM:
case RPM_TYPE_PIN:
// PWM option same as PIN option, for upgrade
type = RPM_TYPE_PIN;
}
if (type == RPM_TYPE_PIN) {
drivers[i] = new AP_RPM_Pin(*this, i, state[i]);
}
break;
#endif
case RPM_TYPE_ESC_TELEM:
drivers[i] = new AP_RPM_ESC_Telem(*this, i, state[i]);
break;
#if HAL_EFI_ENABLED
if (type == RPM_TYPE_EFI) {
case RPM_TYPE_EFI:
drivers[i] = new AP_RPM_EFI(*this, i, state[i]);
}
break;
#endif
// include harmonic notch last
// this makes whatever process is driving the dynamic notch appear as an RPM value
if (type == RPM_TYPE_HNTCH) {
case RPM_TYPE_HNTCH:
drivers[i] = new AP_RPM_HarmonicNotch(*this, i, state[i]);
}
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (type == RPM_TYPE_SITL) {
case RPM_TYPE_SITL:
drivers[i] = new AP_RPM_SITL(*this, i, state[i]);
}
break;
#endif
}
if (drivers[i] != nullptr) {
// we loaded a driver for this instance, so it must be
// present (although it may not be healthy)

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@ -42,6 +42,7 @@ public:
RPM_TYPE_PIN = 2,
RPM_TYPE_EFI = 3,
RPM_TYPE_HNTCH = 4,
RPM_TYPE_ESC_TELEM = 5,
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
RPM_TYPE_SITL = 10,
#endif
@ -62,6 +63,7 @@ public:
AP_Float _maximum[RPM_MAX_INSTANCES];
AP_Float _minimum[RPM_MAX_INSTANCES];
AP_Float _quality_min[RPM_MAX_INSTANCES];
AP_Int32 _esc_mask[RPM_MAX_INSTANCES];
static const struct AP_Param::GroupInfo var_info[];

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@ -0,0 +1,42 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include "RPM_ESC_Telem.h"
extern const AP_HAL::HAL& hal;
/*
open the sensor in constructor
*/
AP_RPM_ESC_Telem::AP_RPM_ESC_Telem(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
AP_RPM_Backend(_ap_rpm, _instance, _state)
{
instance = _instance;
}
void AP_RPM_ESC_Telem::update(void)
{
#ifdef HAL_WITH_ESC_TELEM
AP_ESC_Telem &esc_telem = AP::esc_telem();
float esc_rpm = esc_telem.get_average_motor_rpm(ap_rpm._esc_mask[state.instance]);
state.rate_rpm = esc_rpm * ap_rpm._scaling[state.instance];
state.signal_quality = 0.5f;
state.last_reading_ms = AP_HAL::millis();
#endif
}

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@ -0,0 +1,30 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_RPM.h"
#include "RPM_Backend.h"
class AP_RPM_ESC_Telem : public AP_RPM_Backend
{
public:
// constructor
AP_RPM_ESC_Telem(AP_RPM &ranger, uint8_t instance, AP_RPM::RPM_State &_state);
// update state
void update(void) override;
private:
uint8_t instance;
};