// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_MOTORS_CLASS_H__
#define __AP_MOTORS_CLASS_H__
#include <AP_Common/AP_Common.h>
#include <AP_Progmem/AP_Progmem.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Notify/AP_Notify.h> // Notify library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <Filter/Filter.h> // filter 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 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
// frame definitions
#define AP_MOTORS_PLUS_FRAME 0
#define AP_MOTORS_X_FRAME 1
#define AP_MOTORS_V_FRAME 2
#define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction
#define AP_MOTORS_VTAIL_FRAME 4 // Lynxmotion Hunter VTail 400/500
#define AP_MOTORS_ATAIL_FRAME 5 // A-Shaped VTail Quads
#define AP_MOTORS_NEW_PLUS_FRAME 10 // NEW frames are same as original 4 but with motor orders changed to be clockwise from the front
#define AP_MOTORS_NEW_X_FRAME 11
#define AP_MOTORS_NEW_V_FRAME 12
#define AP_MOTORS_NEW_H_FRAME 13 // same as X frame but motors spin in opposite direction
// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors
/// @class AP_Motors
class AP_Motors {
public:
// Constructor
AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// 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 ) { _flags.frame_orientation = new_orientation; };
// arm, disarm or check status status of motors
bool armed() const { return _flags.armed; };
void armed(bool arm);
// set motor interlock status
void set_interlock(bool set) { _flags.interlock = set;}
// get motor interlock status. true means motors run, false motors don't run
bool get_interlock() const { return _flags.interlock; };
// set_roll, set_pitch, set_yaw, set_throttle
void set_roll(int16_t roll_in) { _roll_control_input = roll_in; }; // range -4500 ~ 4500
void set_pitch(int16_t pitch_in) { _pitch_control_input = pitch_in; }; // range -4500 ~ 4500
void set_yaw(int16_t yaw_in) { _yaw_control_input = yaw_in; }; // range -4500 ~ 4500
void set_throttle(float throttle_in) { _throttle_in = constrain_float(throttle_in,-100.0f,1100.0f); }; // range 0 ~ 1000
void set_stabilizing(bool stabilizing) { _flags.stabilizing = stabilizing; }
// accessors for roll, pitch, yaw and throttle inputs to motors
float get_roll() const { return _roll_control_input; }
float get_pitch() const { return _pitch_control_input; }
float get_yaw() const { return _yaw_control_input; }
float get_throttle() const { return _throttle_control_input; }
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
//
// voltage, current and air pressure compensation or limiting features - multicopters only
//
// set_voltage - set voltage to be used for output scaling
void set_voltage(float volts){ _batt_voltage = volts; }
// set_current - set current to be used for output scaling
void set_current(float current){ _batt_current = current; }
// set_density_ratio - sets air density as a proportion of sea level density
void set_air_density_ratio(float ratio) { _air_density_ratio = ratio; }
// structure for holding motor limit flags
struct AP_Motors_limit {
uint8_t roll_pitch : 1; // we have reached roll or pitch limit
uint8_t yaw : 1; // we have reached yaw limit
uint8_t throttle_lower : 1; // we have reached throttle's lower limit
uint8_t throttle_upper : 1; // we have reached throttle's upper limit
} limit;
//
// virtual functions that should be implemented by child classes
//
// init
virtual void Init() = 0;
// enable - starts allowing signals to be sent to motors
virtual void enable() = 0;
// output - sends commands to the motors
virtual void output() = 0;
// output_min - sends minimum values out to the motors
virtual void output_min() = 0;
// output_test - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) = 0;
// slow_start - set to true to slew motors from current speed to maximum
// Note: this must be set immediately before a step up in throttle
virtual void slow_start(bool true_false) = 0;
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask() = 0;
protected:
// output functions that should be overloaded by child classes
virtual void output_armed_stabilizing()=0;
virtual void output_armed_not_stabilizing()=0;
virtual void output_armed_zero_throttle() { output_min(); }
virtual void output_disarmed()=0;
// update the throttle input filter
virtual void update_throttle_filter() = 0;
// flag bitmask
struct AP_Motors_flags {
uint8_t armed : 1; // 0 if disarmed, 1 if armed
uint8_t stabilizing : 1; // 0 if not controlling attitude, 1 if controlling attitude
uint8_t frame_orientation : 4; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3, NEW_PLUS_FRAME 10, NEW_X_FRAME, NEW_V_FRAME, NEW_H_FRAME
uint8_t interlock : 1; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run)
} _flags;
// mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
static const uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM;
// internal variables
float _roll_control_input; // desired roll control from attitude controllers, +/- 4500
float _pitch_control_input; // desired pitch control from attitude controller, +/- 4500
float _throttle_control_input; // desired throttle (thrust) control from attitude controller, 0-1000
float _yaw_control_input; // desired yaw control from attitude controller, +/- 4500
float _throttle_pwm_scalar; // scalar used to convert throttle channel pwm range into 0-1000 range, ~0.8 - 1.0
float _rpy_pwm_scalar; // scaler used to convert roll, pitch, yaw inputs to pwm range
uint16_t _loop_rate; // rate at which output() function is called (normally 400hz)
uint16_t _speed_hz; // speed in hz to send updates to motors
int16_t _throttle_radio_min; // minimum radio channel pwm
int16_t _throttle_radio_max; // maximum radio channel pwm
float _throttle_in; // last throttle input from set_throttle caller
LowPassFilterFloat _throttle_filter; // throttle input filter
// battery voltage, current and air pressure compensation variables
float _batt_voltage; // latest battery voltage reading
float _batt_current; // latest battery current reading
float _air_density_ratio; // air density / sea level density - decreases in altitude
};
#endif // __AP_MOTORS_CLASS_H__