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AP_Scripting: add bindings and example for dynamic motor mixer

This commit is contained in:
Iampete1 2021-06-19 19:13:58 +01:00 committed by Andrew Tridgell
parent 6848cbc241
commit d158199a7a
2 changed files with 65 additions and 4 deletions
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47
libraries/AP_Scripting/examples/Motor_mixer_dynamic_setup.lua Normal file
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@ -0,0 +1,47 @@
-- This script is an example setting up a custom dynamic motor matrix
-- allowing a vehicle to change geometry in flight
-- this mixer is for a plus quad copter, the default SITL vehicle.
-- Setup motor number (zero indexed) and testing order (1 indexed)
Motors_dynamic:add_motor(0, 2)
Motors_dynamic:add_motor(1, 4)
Motors_dynamic:add_motor(2, 1)
Motors_dynamic:add_motor(3, 3)
factors = motor_factor_table()
-- Roll for motors 1 - 4
factors:roll(0, -0.5)
factors:roll(1, 0.5)
factors:roll(2, 0)
factors:roll(3, 0)
-- pitch for motors 1 -4
factors:pitch(0, 0)
factors:pitch(1, 0)
factors:pitch(2, 0.5)
factors:pitch(3, -0.5)
-- yaw for motors 1 -4
factors:yaw(0, 0.5)
factors:yaw(1, 0.5)
factors:yaw(2, -0.5)
factors:yaw(3, -0.5)
-- throttle for motors 1 -4
factors:throttle(0, 1)
factors:throttle(1, 1)
factors:throttle(2, 1)
factors:throttle(3, 1)
-- must load factors before init
Motors_dynamic:load_factors(factors)
-- were expecting 4 motors
assert(Motors_dynamic:init(4), "Failed to init Motors_dynamic")
-- at any time we can then re-load new factors
Motors_dynamic:load_factors(factors)
-- if doing changes in flight it is a good idea to us pcall to protect the script from crashing
-- see 'protected_call.lua' example

22
libraries/AP_Scripting/generator/description/bindings.desc
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@ -334,8 +334,8 @@ singleton QuadPlane method in_vtol_mode boolean
include AP_Motors/AP_MotorsMatrix.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix alias MotorsMatrix
singleton AP_MotorsMatrix method init boolean uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1)
singleton AP_MotorsMatrix method add_motor_raw void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1)
singleton AP_MotorsMatrix method init boolean uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
singleton AP_MotorsMatrix method add_motor_raw void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
singleton AP_MotorsMatrix method set_throttle_factor boolean int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float 0 FLT_MAX
include AP_Frsky_Telem/AP_Frsky_SPort.h
@ -354,8 +354,8 @@ singleton AC_AttitudeControl_Multi_6DoF method set_offset_roll_pitch void float
include AP_Motors/AP_MotorsMatrix_6DoF_Scripting.h depends APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix_6DoF_Scripting depends APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix_6DoF_Scripting alias Motors_6DoF
singleton AP_MotorsMatrix_6DoF_Scripting method init boolean uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1)
singleton AP_MotorsMatrix_6DoF_Scripting method add_motor void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX boolean uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1)
singleton AP_MotorsMatrix_6DoF_Scripting method init boolean uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
singleton AP_MotorsMatrix_6DoF_Scripting method add_motor void int8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX boolean uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
include AP_HAL/I2CDevice.h
ap_object AP_HAL::I2CDevice semaphore-pointer
@ -385,3 +385,17 @@ singleton hal.gpio method pinMode void uint8_t 0 UINT8_MAX uint8_t 0 1
singleton hal.analogin alias analog
singleton hal.analogin literal
singleton hal.analogin method channel AP_HAL::AnalogSource ANALOG_INPUT_NONE'literal
include AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix_Scripting_Dynamic depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_TYPE(APM_BUILD_ArduCopter)
singleton AP_MotorsMatrix_Scripting_Dynamic alias Motors_dynamic
singleton AP_MotorsMatrix_Scripting_Dynamic method init boolean uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
singleton AP_MotorsMatrix_Scripting_Dynamic method add_motor void uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1) uint8_t 0 AP_MOTORS_MAX_NUM_MOTORS
singleton AP_MotorsMatrix_Scripting_Dynamic method load_factors void AP_MotorsMatrix_Scripting_Dynamic::factor_table
userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_TYPE(APM_BUILD_ArduCopter)
userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table alias motor_factor_table
userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table field roll'array AP_MOTORS_MAX_NUM_MOTORS float read write -FLT_MAX FLT_MAX
userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table field pitch'array AP_MOTORS_MAX_NUM_MOTORS float read write -FLT_MAX FLT_MAX
userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table field yaw'array AP_MOTORS_MAX_NUM_MOTORS float read write -FLT_MAX FLT_MAX
userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table field throttle'array AP_MOTORS_MAX_NUM_MOTORS float read write -FLT_MAX FLT_MAX