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Copter: add 6DoF support

This commit is contained in:
Iampete1 2021-01-26 12:53:34 +00:00 committed by Randy Mackay
parent f490c9d799
commit d6fa4d97e3
3 changed files with 17 additions and 3 deletions
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1
ArduCopter/Copter.h
View File

@ -42,6 +42,7 @@
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Mission/AP_Mission.h> // Mission command library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h> // Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h> // 6DoF Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Heli.h> // Attitude control library for traditional helicopter
#include <AC_AttitudeControl/AC_PosControl.h> // Position control library
#include <AP_Motors/AP_Motors.h> // AP Motors library

2
ArduCopter/Parameters.cpp
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@ -864,7 +864,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 10:BiCopter, 11:Heli_Dual, 12:DodecaHexa, 13:HeliQuad, 14:Deca, 15:Scripting Matrix
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 6:Heli, 7:Tri, 8:SingleCopter, 9:CoaxCopter, 10:BiCopter, 11:Heli_Dual, 12:DodecaHexa, 13:HeliQuad, 14:Deca, 15:Scripting Matrix, 16:6DoF Scripting
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),

17
ArduCopter/system.cpp
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@ -484,6 +484,12 @@ void Copter::allocate_motors(void)
motors = new AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsTailsitter::var_info;
break;
case AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING:
#ifdef ENABLE_SCRIPTING
motors = new AP_MotorsMatrix_6DoF_Scripting(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsMatrix_6DoF_Scripting::var_info;
#endif // ENABLE_SCRIPTING
break;
#else // FRAME_CONFIG == HELI_FRAME
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
motors = new AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz());
@ -518,8 +524,15 @@ void Copter::allocate_motors(void)
const struct AP_Param::GroupInfo *ac_var_info;
#if FRAME_CONFIG != HELI_FRAME
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
ac_var_info = AC_AttitudeControl_Multi::var_info;
if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
#ifdef ENABLE_SCRIPTING
attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
#endif // ENABLE_SCRIPTING
} else {
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
ac_var_info = AC_AttitudeControl_Multi::var_info;
}
#else
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
ac_var_info = AC_AttitudeControl_Heli::var_info;