// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- /// @file AxisController.h /// @brief Generic PID algorithm, with EEPROM-backed storage of constants. #ifndef AP_MOTORS #define AP_MOTORS #include #include #include // ArduPilot Mega Vector/Matrix math Library #include // Curve used to linearlise throttle pwm to thrust #include // RC Channel Library #include // ArduPilot Mega RC Library // offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays #define AP_MOTORS_MOT_1 0 #define AP_MOTORS_MOT_2 1 #define AP_MOTORS_MOT_3 2 #define AP_MOTORS_MOT_4 3 #define AP_MOTORS_MOT_5 4 #define AP_MOTORS_MOT_6 5 #define AP_MOTORS_MOT_7 6 #define AP_MOTORS_MOT_8 7 #define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_7,CH_8,CH_10,CH_11 #define APM2_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7,CH_8 #define AP_MOTORS_MAX_NUM_MOTORS 8 #define AP_MOTORS_DEFAULT_MIN_THROTTLE 130 #define AP_MOTORS_DEFAULT_MAX_THROTTLE 850 // APM board definitions #define AP_MOTORS_APM1 1 #define AP_MOTORS_APM2 2 // frame definitions #define AP_MOTORS_PLUS_FRAME 0 #define AP_MOTORS_X_FRAME 1 #define AP_MOTORS_V_FRAME 2 // motor update rate #define AP_MOTORS_SPEED_DEFAULT 490 // top-bottom ratio (for Y6) #define AP_MOTORS_TOP_BOTTOM_RATIO 1.0 #define THROTTLE_CURVE_ENABLED 1 // throttle curve disabled by default #define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100) #define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100) /// @class AP_Motors class AP_Motors { public: // Constructor 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); // init virtual void Init(); // set mapping from motor number to RC channel 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 ) { _motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1; _motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2; _motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3; _motor_to_channel_map[AP_MOTORS_MOT_4] = mot_4; _motor_to_channel_map[AP_MOTORS_MOT_5] = mot_5; _motor_to_channel_map[AP_MOTORS_MOT_6] = mot_6; _motor_to_channel_map[AP_MOTORS_MOT_7] = mot_7; _motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8; } // set update rate to motors - a value in hertz virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; }; // set frame orientation (normally + or X) virtual void set_frame_orientation( uint8_t new_orientation ) { _frame_orientation = new_orientation; }; // enable - starts allowing signals to be sent to motors virtual void enable() { }; // arm, disarm or check status status of motors virtual bool armed() { return _armed; }; virtual void armed(bool arm) { _armed = arm; }; // check or set status of auto_armed - controls whether autopilot can take control of throttle // Note: this should probably be moved out of this class as it has little to do with the motors virtual bool auto_armed() { return _auto_armed; }; virtual void auto_armed(bool arm) { _auto_armed = arm; }; // 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) virtual void set_min_throttle(uint16_t min_throttle) { _min_throttle = min_throttle; }; virtual void set_max_throttle(uint16_t max_throttle) { _max_throttle = max_throttle; }; // output - sends commands to the motors virtual void output() { if( _armed && _auto_armed ) { output_armed(); }else{ output_disarmed(); } }; // output_min - sends minimum values out to the motors virtual void output_min() { }; // get basic information about the platform virtual uint8_t get_num_motors() { return 0; }; // motor test virtual void output_test() { }; // throttle_pass_through - passes throttle through to motors - dangerous but required for initialising ESCs virtual void throttle_pass_through(); // setup_throttle_curve - used to linearlise thrust output by motors // returns true if curve is created successfully virtual bool setup_throttle_curve(); // 1 if motor is enabled, 0 otherwise AP_Int8 motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // final output values sent to the motors. public (for now) so that they can be access for logging int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // power ratio of upper vs lower motors (only used by y6 and octa quad copters) AP_Float top_bottom_ratio; // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; protected: // output functions that should be overloaded by child classes virtual void output_armed() { }; virtual void output_disarmed() { }; APM_RC_Class* _rc; // APM_RC class used to send updates to ESCs/Servos RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users 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 uint16_t _speed_hz; // speed in hz to send updates to motors bool _armed; // true if motors are armed bool _auto_armed; // true is throttle is above zero, allows auto pilot to take control of throttle uint8_t _frame_orientation; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2 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) 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) AP_CurveInt16_Size4 _throttle_curve; // curve used to linearize the pwm->thrust AP_Int8 _throttle_curve_enabled; // enable throttle curve AP_Int8 _throttle_curve_mid; // throttle which produces 1/2 the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range AP_Int8 _throttle_curve_max; // throttle which produces the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range }; #endif // AP_MOTORS