#pragma once #include #include // ArduPilot Mega Vector/Matrix math Library #include // Notify library #include #include // filter library // offsets for motors in motor_out and _motor_filtered arrays #define AP_MOTORS_MOT_1 0U #define AP_MOTORS_MOT_2 1U #define AP_MOTORS_MOT_3 2U #define AP_MOTORS_MOT_4 3U #define AP_MOTORS_MOT_5 4U #define AP_MOTORS_MOT_6 5U #define AP_MOTORS_MOT_7 6U #define AP_MOTORS_MOT_8 7U #define AP_MOTORS_MOT_9 8U #define AP_MOTORS_MOT_10 9U #define AP_MOTORS_MOT_11 10U #define AP_MOTORS_MOT_12 11U #define AP_MOTORS_MAX_NUM_MOTORS 12 // motor update rate #define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors /// @class AP_Motors class AP_Motors { public: enum motor_frame_class { MOTOR_FRAME_UNDEFINED = 0, MOTOR_FRAME_QUAD = 1, MOTOR_FRAME_HEXA = 2, MOTOR_FRAME_OCTA = 3, MOTOR_FRAME_OCTAQUAD = 4, MOTOR_FRAME_Y6 = 5, MOTOR_FRAME_HELI = 6, MOTOR_FRAME_TRI = 7, MOTOR_FRAME_SINGLE = 8, MOTOR_FRAME_COAX = 9, MOTOR_FRAME_TAILSITTER = 10, MOTOR_FRAME_HELI_DUAL = 11, MOTOR_FRAME_DODECAHEXA = 12, MOTOR_FRAME_HELI_QUAD = 13, }; enum motor_frame_type { MOTOR_FRAME_TYPE_PLUS = 0, MOTOR_FRAME_TYPE_X = 1, MOTOR_FRAME_TYPE_V = 2, MOTOR_FRAME_TYPE_H = 3, MOTOR_FRAME_TYPE_VTAIL = 4, MOTOR_FRAME_TYPE_ATAIL = 5, MOTOR_FRAME_TYPE_PLUSREV = 6, // plus with reversed motor direction MOTOR_FRAME_TYPE_Y6B = 10, MOTOR_FRAME_TYPE_Y6F = 11, // for FireFlyY6 MOTOR_FRAME_TYPE_BF_X = 12, // X frame, betaflight ordering MOTOR_FRAME_TYPE_DJI_X = 13, // X frame, DJI ordering MOTOR_FRAME_TYPE_CW_X = 14, // X frame, clockwise ordering MOTOR_FRAME_TYPE_I = 15, // (sideways H) octo only }; // Constructor AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT); // singleton support static AP_Motors *get_singleton(void) { return _singleton; } // check initialisation succeeded bool initialised_ok() const { return _flags.initialised_ok; } // 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(float roll_in) { _roll_in = roll_in; }; // range -1 ~ +1 void set_roll_ff(float roll_in) { _roll_in_ff = roll_in; }; // range -1 ~ +1 void set_pitch(float pitch_in) { _pitch_in = pitch_in; }; // range -1 ~ +1 void set_pitch_ff(float pitch_in) { _pitch_in_ff = pitch_in; }; // range -1 ~ +1 void set_yaw(float yaw_in) { _yaw_in = yaw_in; }; // range -1 ~ +1 void set_yaw_ff(float yaw_in) { _yaw_in_ff = yaw_in; }; // range -1 ~ +1 void set_throttle(float throttle_in) { _throttle_in = throttle_in; }; // range 0 ~ 1 void set_throttle_avg_max(float throttle_avg_max) { _throttle_avg_max = constrain_float(throttle_avg_max, 0.0f, 1.0f); }; // range 0 ~ 1 void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); } void set_forward(float forward_in) { _forward_in = forward_in; }; // range -1 ~ +1 void set_lateral(float lateral_in) { _lateral_in = lateral_in; }; // range -1 ~ +1 // accessors for roll, pitch, yaw and throttle inputs to motors float get_roll() const { return _roll_in; } float get_pitch() const { return _pitch_in; } float get_yaw() const { return _yaw_in; } float get_throttle_out() const { return _throttle_out; } float get_throttle() const { return constrain_float(_throttle_filter.get(), 0.0f, 1.0f); } float get_throttle_bidirectional() const { return constrain_float(2 * (_throttle_filter.get() - 0.5f), -1.0f, 1.0f); } float get_forward() const { return _forward_in; } float get_lateral() const { return _lateral_in; } virtual float get_throttle_hover() const = 0; // motor failure handling void set_thrust_boost(bool enable) { _thrust_boost = enable; } bool get_thrust_boost() const { return _thrust_boost; } virtual uint8_t get_lost_motor() const { return 0; } // desired spool states enum class DesiredSpoolState : uint8_t { SHUT_DOWN = 0, // all motors should move to stop GROUND_IDLE = 1, // all motors should move to ground idle THROTTLE_UNLIMITED = 2, // motors should move to being a state where throttle is unconstrained (e.g. by start up procedure) }; void set_desired_spool_state(enum DesiredSpoolState spool); enum DesiredSpoolState get_desired_spool_state(void) const { return _spool_desired; } // spool states enum class SpoolState : uint8_t { SHUT_DOWN = 0, // all motors stop GROUND_IDLE = 1, // all motors at ground idle SPOOLING_UP = 2, // increasing maximum throttle while stabilizing THROTTLE_UNLIMITED = 3, // throttle is no longer constrained by start up procedure SPOOLING_DOWN = 4, // decreasing maximum throttle while stabilizing }; // get_spool_state - get current spool state enum SpoolState get_spool_state(void) const { return _spool_state; } // 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 : 1; // we have reached roll or pitch limit uint8_t 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 // // set update rate to motors - a value in hertz virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; } // init virtual void init(motor_frame_class frame_class, motor_frame_type frame_type) = 0; // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus) virtual void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) = 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_seq - 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_seq(uint8_t motor_seq, int16_t pwm) = 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; // pilot input in the -1 ~ +1 range for roll, pitch and yaw. 0~1 range for throttle void set_radio_passthrough(float roll_input, float pitch_input, float throttle_input, float yaw_input); // set loop rate. Used to support loop rate as a parameter void set_loop_rate(uint16_t loop_rate) { _loop_rate = loop_rate; } // return the roll factor of any motor, this is used for tilt rotors and tail sitters // using copter motors for forward flight virtual float get_roll_factor(uint8_t i) { return 0.0f; } // This function required for tradheli. Tradheli initializes targets when going from unarmed to armed state. // This function is overriden in motors_heli class. Always true for multicopters. virtual bool init_targets_on_arming() const { return true; } enum pwm_type { PWM_TYPE_NORMAL = 0, PWM_TYPE_ONESHOT = 1, PWM_TYPE_ONESHOT125 = 2, PWM_TYPE_BRUSHED = 3, PWM_TYPE_DSHOT150 = 4, PWM_TYPE_DSHOT300 = 5, PWM_TYPE_DSHOT600 = 6, PWM_TYPE_DSHOT1200 = 7}; pwm_type get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); } protected: // output functions that should be overloaded by child classes virtual void output_armed_stabilizing() = 0; virtual void rc_write(uint8_t chan, uint16_t pwm); virtual void rc_write_angle(uint8_t chan, int16_t angle_cd); virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz); virtual uint32_t rc_map_mask(uint32_t mask) const; // add a motor to the motor map void add_motor_num(int8_t motor_num); // update the throttle input filter virtual void update_throttle_filter() = 0; // save parameters as part of disarming virtual void save_params_on_disarm() {} // flag bitmask struct AP_Motors_flags { uint8_t armed : 1; // 0 if disarmed, 1 if armed uint8_t interlock : 1; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run) uint8_t initialised_ok : 1; // 1 if initialisation was successful } _flags; // internal variables uint16_t _loop_rate; // rate in Hz at which output() function is called (normally 400hz) uint16_t _speed_hz; // speed in hz to send updates to motors float _roll_in; // desired roll control from attitude controllers, -1 ~ +1 float _roll_in_ff; // desired roll feed forward control from attitude controllers, -1 ~ +1 float _pitch_in; // desired pitch control from attitude controller, -1 ~ +1 float _pitch_in_ff; // desired pitch feed forward control from attitude controller, -1 ~ +1 float _yaw_in; // desired yaw control from attitude controller, -1 ~ +1 float _yaw_in_ff; // desired yaw feed forward control from attitude controller, -1 ~ +1 float _throttle_in; // last throttle input from set_throttle caller float _throttle_out; // throttle after mixing is complete float _forward_in; // last forward input from set_forward caller float _lateral_in; // last lateral input from set_lateral caller float _throttle_avg_max; // last throttle input from set_throttle_avg_max LowPassFilterFloat _throttle_filter; // throttle input filter DesiredSpoolState _spool_desired; // desired spool state SpoolState _spool_state; // current spool mode // air pressure compensation variables float _air_density_ratio; // air density / sea level density - decreases in altitude // mask of what channels need fast output uint16_t _motor_fast_mask; // pass through variables float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed float _pitch_radio_passthrough; // pitch input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed float _throttle_radio_passthrough; // throttle/collective input from pilot in 0 ~ 1 range. used for setup and providing servo feedback while landed float _yaw_radio_passthrough; // yaw input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed AP_Int8 _pwm_type; // PWM output type // motor failure handling bool _thrust_boost; // true if thrust boost is enabled to handle motor failure bool _thrust_balanced; // true when output thrust is well balanced float _thrust_boost_ratio; // choice between highest and second highest motor output for output mixing (0 ~ 1). Zero is normal operation private: static AP_Motors *_singleton; }; namespace AP { AP_Motors *motors(); };