mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_Motors/AP_Motors.h
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uncrustify
Pat Hickey
parent
4fe97c1e7b
commit
d773a9c43b
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@ -27,12 +27,12 @@
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#define AP_MOTORS_MAX_NUM_MOTORS 8
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#define AP_MOTORS_DEFAULT_MIN_THROTTLE 130
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#define AP_MOTORS_DEFAULT_MAX_THROTTLE 850
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#define AP_MOTORS_DEFAULT_MIN_THROTTLE 130
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#define AP_MOTORS_DEFAULT_MAX_THROTTLE 850
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// APM board definitions
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#define AP_MOTORS_APM1 1
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#define AP_MOTORS_APM2 2
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#define AP_MOTORS_APM1 1
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#define AP_MOTORS_APM2 2
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// frame definitions
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#define AP_MOTORS_PLUS_FRAME 0
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@ -44,94 +44,120 @@
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#define AP_MOTORS_SPEED_INSTANT_PWM 0
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// top-bottom ratio (for Y6)
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#define AP_MOTORS_TOP_BOTTOM_RATIO 1.0
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#define AP_MOTORS_TOP_BOTTOM_RATIO 1.0
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/// @class AP_Motors
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/// @class AP_Motors
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class AP_Motors {
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public:
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public:
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// Constructor
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AP_Motors( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
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// Constructor
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AP_Motors( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
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// init
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virtual void Init() {};
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// init
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virtual void Init() {
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};
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// set mapping from motor number to RC channel
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virtual void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
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_motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
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_motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
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_motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
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_motor_to_channel_map[AP_MOTORS_MOT_4] = mot_4;
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_motor_to_channel_map[AP_MOTORS_MOT_5] = mot_5;
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_motor_to_channel_map[AP_MOTORS_MOT_6] = mot_6;
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_motor_to_channel_map[AP_MOTORS_MOT_7] = mot_7;
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_motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
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}
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// set mapping from motor number to RC channel
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virtual void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
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_motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
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_motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
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_motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
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_motor_to_channel_map[AP_MOTORS_MOT_4] = mot_4;
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_motor_to_channel_map[AP_MOTORS_MOT_5] = mot_5;
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_motor_to_channel_map[AP_MOTORS_MOT_6] = mot_6;
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_motor_to_channel_map[AP_MOTORS_MOT_7] = mot_7;
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_motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
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}
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// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
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virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
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// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
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virtual void set_update_rate( uint16_t speed_hz ) {
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_speed_hz = speed_hz;
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};
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// set frame orientation (normally + or X)
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virtual void set_frame_orientation( uint8_t new_orientation ) { _frame_orientation = new_orientation; };
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// set frame orientation (normally + or X)
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virtual void set_frame_orientation( uint8_t new_orientation ) {
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_frame_orientation = new_orientation;
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};
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// enable - starts allowing signals to be sent to motors
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virtual void enable() {};
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// enable - starts allowing signals to be sent to motors
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virtual void enable() {
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};
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// arm, disarm or check status status of motors
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virtual bool armed() { return _armed; };
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virtual void armed(bool arm) { _armed = arm; };
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// arm, disarm or check status status of motors
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virtual bool armed() {
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return _armed;
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};
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virtual void armed(bool arm) {
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_armed = arm;
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};
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// check or set status of auto_armed - controls whether autopilot can take control of throttle
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// Note: this should probably be moved out of this class as it has little to do with the motors
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virtual bool auto_armed() { return _auto_armed; };
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virtual void auto_armed(bool arm) { _auto_armed = arm; };
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// check or set status of auto_armed - controls whether autopilot can take control of throttle
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// Note: this should probably be moved out of this class as it has little to do with the motors
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virtual bool auto_armed() {
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return _auto_armed;
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};
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virtual void auto_armed(bool arm) {
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_auto_armed = arm;
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};
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// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
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virtual void set_min_throttle(uint16_t min_throttle) { _min_throttle = min_throttle; };
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virtual void set_max_throttle(uint16_t max_throttle) { _max_throttle = max_throttle; };
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// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
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virtual void set_min_throttle(uint16_t min_throttle) {
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_min_throttle = min_throttle;
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};
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virtual void set_max_throttle(uint16_t max_throttle) {
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_max_throttle = max_throttle;
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};
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// output - sends commands to the motors
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virtual void output() { if( _armed && _auto_armed ) { output_armed(); }else{ output_disarmed(); } };
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// output - sends commands to the motors
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virtual void output() {
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if( _armed && _auto_armed ) { output_armed(); }else{ output_disarmed(); }
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};
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// output_min - sends minimum values out to the motors
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virtual void output_min() {};
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// output_min - sends minimum values out to the motors
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virtual void output_min() {
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};
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// get basic information about the platform
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virtual uint8_t get_num_motors() { return 0; };
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// get basic information about the platform
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virtual uint8_t get_num_motors() {
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return 0;
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};
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// motor test
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virtual void output_test() {};
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// motor test
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virtual void output_test() {
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};
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// throttle_pass_through - passes throttle through to motors - dangerous but required for initialising ESCs
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virtual void throttle_pass_through();
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// 1 if motor is enabled, 0 otherwise
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AP_Int8 motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
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// throttle_pass_through - passes throttle through to motors - dangerous but required for initialising ESCs
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virtual void throttle_pass_through();
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// final output values sent to the motors. public (for now) so that they can be access for logging
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int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];
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// 1 if motor is enabled, 0 otherwise
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AP_Int8 motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
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// power ratio of upper vs lower motors (only used by y6 and octa quad copters)
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AP_Float top_bottom_ratio;
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// final output values sent to the motors. public (for now) so that they can be access for logging
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int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// power ratio of upper vs lower motors (only used by y6 and octa quad copters)
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AP_Float top_bottom_ratio;
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// output functions that should be overloaded by child classes
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virtual void output_armed() {};
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virtual void output_disarmed() {};
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APM_RC_Class* _rc; // APM_RC class used to send updates to ESCs/Servos
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RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users
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uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
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uint16_t _speed_hz; // speed in hz to send updates to motors
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bool _armed; // true if motors are armed
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bool _auto_armed; // true is throttle is above zero, allows auto pilot to take control of throttle
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uint8_t _frame_orientation; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2
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int16_t _min_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
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int16_t _max_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
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};
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// output functions that should be overloaded by child classes
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virtual void output_armed() {
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};
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virtual void output_disarmed() {
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};
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APM_RC_Class* _rc; // APM_RC class used to send updates to ESCs/Servos
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RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users
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uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
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uint16_t _speed_hz; // speed in hz to send updates to motors
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bool _armed; // true if motors are armed
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bool _auto_armed; // true is throttle is above zero, allows auto pilot to take control of throttle
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uint8_t _frame_orientation; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2
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int16_t _min_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
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int16_t _max_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
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};
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#endif // AP_MOTORS
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