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uncrustify libraries/AP_Motors/AP_MotorsHeli.h

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uncrustify 2012-08-21 19:19:52 -07:00 committed by Pat Hickey
parent 24943e0ea7
commit e233e4d625
1 changed files with 111 additions and 109 deletions
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220
libraries/AP_Motors/AP_MotorsHeli.h
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@ -16,28 +16,28 @@
// below is required to make "map" function available to this library
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#include "Arduino.h"
#else
#include "WProgram.h"
#include "WProgram.h"
#endif
#define AP_MOTORS_HELI_SPEED_DEFAULT 125 // default servo update rate for helicopters
#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
#define AP_MOTORS_HELI_SPEED_DEFAULT 125 // default servo update rate for helicopters
#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
#define AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS 3
// tail servo uses channel 7
#define AP_MOTORS_HELI_EXT_GYRO CH_7
#define AP_MOTORS_HELI_EXT_GYRO CH_7
// frame definitions
#define AP_MOTORS_HELI_SWASH_CCPM 0
#define AP_MOTORS_HELI_SWASH_H1 1
#define AP_MOTORS_HELI_SWASH_CCPM 0
#define AP_MOTORS_HELI_SWASH_H1 1
// ext RSC definitions
#define AP_MOTORS_HELI_EXT_RSC CH_8
#define AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH 1
#define AP_MOTORSHELI_RSC_MODE_EXT_GOV 2
#define AP_MOTORSHELI_RSC_MODE_EXT_GOV 2
// head definitions
#define FLYBARLESS_HEAD 0
@ -46,119 +46,121 @@
class AP_HeliControls;
/// @class AP_MotorsHeli
/// @class AP_MotorsHeli
class AP_MotorsHeli : public AP_Motors {
public:
public:
/// Constructor
AP_MotorsHeli( 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,
RC_Channel* rc_8,
RC_Channel* swash_servo_1,
RC_Channel* swash_servo_2,
RC_Channel* swash_servo_3,
RC_Channel* yaw_servo,
uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
_servo_1(swash_servo_1),
_servo_2(swash_servo_2),
_servo_3(swash_servo_3),
_servo_4(yaw_servo),
_rc_8(rc_8)
{
throttle_mid = 0;
_roll_scaler = 1;
_pitch_scaler = 1;
_collective_scalar = 1;
_swash_initialised = false;
};
/// Constructor
AP_MotorsHeli( 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,
RC_Channel* rc_8,
RC_Channel* swash_servo_1,
RC_Channel* swash_servo_2,
RC_Channel* swash_servo_3,
RC_Channel* yaw_servo,
uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
_servo_1(swash_servo_1),
_servo_2(swash_servo_2),
_servo_3(swash_servo_3),
_servo_4(yaw_servo),
_rc_8(rc_8)
{
throttle_mid = 0;
_roll_scaler = 1;
_pitch_scaler = 1;
_collective_scalar = 1;
_swash_initialised = false;
};
RC_Channel *_servo_1;
RC_Channel *_servo_2;
RC_Channel *_servo_3;
RC_Channel *_servo_4;
RC_Channel *_rc_8;
AP_Int8 swash_type;
AP_Int16 servo1_pos;
AP_Int16 servo2_pos;
AP_Int16 servo3_pos;
AP_Int16 collective_min;
AP_Int16 collective_max;
AP_Int16 collective_mid;
AP_Int16 ext_gyro_enabled;
AP_Int16 ext_gyro_gain;
AP_Int16 roll_max;
AP_Int16 pitch_max;
AP_Int16 phase_angle;
AP_Int16 collective_yaw_effect;
AP_Int8 servo_manual; // used to trigger swash reset from mission planner
AP_Int16 ext_gov_setpoint; // maximum output to the motor governor
AP_Int8 rsc_mode; // sets the mode for rotor speed controller
AP_Int16 rsc_ramp_up_rate; // sets the time in 100th seconds the RSC takes to ramp up to speed
AP_Int8 flybar_mode; // selects FBL Acro Mode, or Flybarred Acro Mode
int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000)
RC_Channel *_servo_1;
RC_Channel *_servo_2;
RC_Channel *_servo_3;
RC_Channel *_servo_4;
RC_Channel *_rc_8;
AP_Int8 swash_type;
AP_Int16 servo1_pos;
AP_Int16 servo2_pos;
AP_Int16 servo3_pos;
AP_Int16 collective_min;
AP_Int16 collective_max;
AP_Int16 collective_mid;
AP_Int16 ext_gyro_enabled;
AP_Int16 ext_gyro_gain;
AP_Int16 roll_max;
AP_Int16 pitch_max;
AP_Int16 phase_angle;
AP_Int16 collective_yaw_effect;
AP_Int8 servo_manual; // used to trigger swash reset from mission planner
AP_Int16 ext_gov_setpoint; // maximum output to the motor governor
AP_Int8 rsc_mode; // sets the mode for rotor speed controller
AP_Int16 rsc_ramp_up_rate; // sets the time in 100th seconds the RSC takes to ramp up to speed
AP_Int8 flybar_mode; // selects FBL Acro Mode, or Flybarred Acro Mode
int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000)
// init
void Init();
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// you must have setup_motors before calling this
void set_update_rate( uint16_t speed_hz );
// init
void Init();
// enable - starts allowing signals to be sent to motors
void enable();
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// you must have setup_motors before calling this
void set_update_rate( uint16_t speed_hz );
// get basic information about the platform
uint8_t get_num_motors() { return 5; };
// enable - starts allowing signals to be sent to motors
void enable();
// motor test
void output_test();
// output_min - sends minimum values out to the motors
void output_min();
// get basic information about the platform
uint8_t get_num_motors() {
return 5;
};
// init_swash - initialise the swash plate
void init_swash();
// motor test
void output_test();
// output - sends commands to the motors
void output_armed();
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// output_min - sends minimum values out to the motors
void output_min();
// init_swash - initialise the swash plate
void init_swash();
// output - sends commands to the motors
void output_armed();
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// heli_move_swash - moves swash plate to attitude of parameters passed in
void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_out, int16_t yaw_out);
// reset_swash - free up swash for maximum movements. Used for set-up
void reset_swash();
void output_disarmed();
void rsc_control();
float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
// internally used variables
float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
bool _swash_initialised; // true if swash has been initialised
int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t rsc_ramp; // current state of ramping
// heli_move_swash - moves swash plate to attitude of parameters passed in
void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_out, int16_t yaw_out);
};
// reset_swash - free up swash for maximum movements. Used for set-up
void reset_swash();
void output_disarmed();
void rsc_control();
float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
// internally used variables
float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
bool _swash_initialised; // true if swash has been initialised
int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t rsc_ramp; // current state of ramping
};
#endif // AP_MOTORSHELI