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Plane: support all types of multicopters in quadplane 

adds Q_FRAME_CLASS for class of multicopter frame
This commit is contained in:
Andrew Tridgell 2016-02-08 11:00:19 +11:00
parent eeda1b56de
commit f8d8616598
2 changed files with 58 additions and 11 deletions
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55
ArduPlane/quadplane.cpp
View File

@ -13,7 +13,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Group: M_
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsQuad),
AP_SUBGROUPPTR(motors, "M_", 2, QuadPlane, AP_MotorsMulticopter),
// @Param: RT_RLL_P
// @DisplayName: Roll axis rate controller P gain
@ -331,6 +331,20 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Units: Degrees
// @Increment: 1
AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3),
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Quad, 1:Hexa, 2:Octa
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 30, QuadPlane, frame_class, 0),
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X or V)
// @Description: Controls motor mixing for multicopter component
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B
// @User: Standard
AP_GROUPINFO("FRAME_TYPE", 31, QuadPlane, frame_type, 1),
AP_GROUPEND
};
@ -341,6 +355,16 @@ QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
AP_Param::setup_object_defaults(this, var_info);
}
// setup default motors for the frame class
void QuadPlane::setup_default_channels(uint8_t num_motors)
{
for (uint8_t i=0; i<num_motors; i++) {
RC_Channel_aux::set_aux_channel_default((RC_Channel_aux::Aux_servo_function_t)(RC_Channel_aux::k_motor1+i), CH_5+i);
}
}
bool QuadPlane::setup(void)
{
uint16_t mask;
@ -356,23 +380,34 @@ bool QuadPlane::setup(void)
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Not enough memory for quadplane");
goto failed;
}
// setup default motors for X frame
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor1, CH_5);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor2, CH_6);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor3, CH_7);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor4, CH_8);
/*
dynamically allocate the key objects for quadplane. This ensures
that the objects don't affect the vehicle unless enabled and
also saves memory when not in use
*/
motors = new AP_MotorsQuad(plane.ins.get_sample_rate());
switch ((enum frame_class)frame_class.get()) {
case FRAME_CLASS_QUAD:
setup_default_channels(4);
motors = new AP_MotorsQuad(plane.ins.get_sample_rate());
break;
case FRAME_CLASS_HEXA:
setup_default_channels(6);
motors = new AP_MotorsHexa(plane.ins.get_sample_rate());
break;
case FRAME_CLASS_OCTA:
setup_default_channels(8);
motors = new AP_MotorsOcta(plane.ins.get_sample_rate());
break;
default:
hal.console->printf("Unknown frame class %u\n", (unsigned)frame_class.get());
goto failed;
}
if (!motors) {
hal.console->printf("Unable to allocate motors\n");
goto failed;
}
AP_Param::load_object_from_eeprom(motors, motors->var_info);
attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors,
p_stabilize_roll, p_stabilize_pitch, p_stabilize_yaw,
@ -397,7 +432,7 @@ bool QuadPlane::setup(void)
}
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
motors->set_frame_orientation(AP_MOTORS_X_FRAME);
motors->set_frame_orientation(frame_type);
motors->Init();
motors->set_throttle_range(0, thr_min_pwm, thr_max_pwm);
motors->set_hover_throttle(throttle_mid);

14
ArduPlane/quadplane.h
View File

@ -73,8 +73,11 @@ private:
AC_P p_vel_z{5};
AC_PID pid_accel_z{0.5, 1, 0, 800, 20, 0.02};
AC_PI_2D pi_vel_xy{1.0, 0.5, 1000, 5, 0.02};
AP_Int8 frame_class;
AP_Int8 frame_type;
AP_MotorsQuad *motors;
AP_MotorsMulticopter *motors;
AC_AttitudeControl_Multi *attitude_control;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;
@ -122,6 +125,9 @@ private:
float desired_auto_yaw_rate_cds(void);
bool should_relax(void);
// setup correct aux channels for frame class
void setup_default_channels(uint8_t num_motors);
AP_Int16 transition_time_ms;
@ -186,4 +192,10 @@ private:
} land_state;
int32_t land_yaw_cd;
float land_wp_proportion;
enum frame_class {
FRAME_CLASS_QUAD=0,
FRAME_CLASS_HEXA=1,
FRAME_CLASS_OCTA=2,
};
};