// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// @file AP_MotorsMulticopter.h /// @brief Motor control class for Multicopters #pragma once #include "AP_Motors_Class.h" #ifndef AP_MOTORS_DENSITY_COMP #define AP_MOTORS_DENSITY_COMP 1 #endif #define AP_MOTORS_DEFAULT_MID_THROTTLE 500 #define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed #define AP_MOTORS_YAW_HEADROOM_DEFAULT 200 #define AP_MOTORS_THST_EXPO_DEFAULT 0.65f // set to 0 for linear and 1 for second order approximation #define AP_MOTORS_THST_HOVER_DEFAULT 0.5f // the estimated hover throttle, 0 ~ 1 #define AP_MOTORS_THST_HOVER_TC 10.0f // time constant used to update estimated hover throttle, 0 ~ 1 #define AP_MOTORS_SPIN_MIN_DEFAULT 0.15f // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range #define AP_MOTORS_SPIN_MAX_DEFAULT 0.95f // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range #define AP_MOTORS_SPIN_ARM_DEFAULT 0.10f // throttle out ratio which produces the armed spin rate. (i.e. 0 ~ 1 ) of the full throttle range #define AP_MOTORS_BAT_VOLT_MAX_DEFAULT 0.0f // voltage limiting max default #define AP_MOTORS_BAT_VOLT_MIN_DEFAULT 0.0f // voltage limiting min default (voltage dropping below this level will have no effect) #define AP_MOTORS_BAT_CURR_MAX_DEFAULT 0.0f // current limiting max default #define AP_MOTORS_BAT_CURR_TC_DEFAULT 5.0f // Time constant used to limit the maximum current #define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz // spool definition #define AP_MOTORS_SPOOL_UP_TIME 0.5f // time (in seconds) for throttle to increase from zero to min throttle, and min throttle to full throttle. /// @class AP_MotorsMulticopter class AP_MotorsMulticopter : public AP_Motors { public: // Constructor AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT); // output - sends commands to the motors virtual void output(); // output_min - sends minimum values out to the motors void output_min(); // set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm) void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; } // set_throttle_range - 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) // also sets minimum and maximum pwm values that will be sent to the motors void set_throttle_range(int16_t radio_min, int16_t radio_max); // update estimated throttle required to hover void update_throttle_hover(float dt); virtual float get_throttle_hover() const { return _throttle_hover; }; // spool up states enum spool_up_down_mode { SHUT_DOWN = 0, // all motors stop SPIN_WHEN_ARMED = 1, // all motors at spin when armed SPOOL_UP = 2, // increasing maximum throttle while stabilizing THROTTLE_UNLIMITED = 3, // throttle is no longer constrained by start up procedure SPOOL_DOWN = 4, // decreasing maximum throttle while stabilizing }; // passes throttle directly to all motors for ESC calibration. // throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_output_min() and 1 will send get_pwm_output_max() void set_throttle_passthrough_for_esc_calibration(float throttle_input); // get_lift_max - get maximum lift ratio - for logging purposes only float get_lift_max() { return _lift_max; } // get_batt_voltage_filt - get battery voltage ratio - for logging purposes only float get_batt_voltage_filt() const { return _batt_voltage_filt.get(); } // get_batt_resistance - get battery resistance approximation - for logging purposes only float get_batt_resistance() const { return _batt_resistance; } // get throttle limit imposed by battery current limiting. This is a number from 0 ~ 1 where 0 means hover throttle, 1 means the hover throttle float get_throttle_limit() const { return _throttle_limit; } // returns maximum thrust in the range 0 to 1 float get_throttle_thrust_max() const { return _throttle_thrust_max; } // return true if spool up is complete bool spool_up_complete() const { return _multicopter_flags.spool_mode == THROTTLE_UNLIMITED; } // output a thrust to all motors that match a given motor // mask. This is used to control tiltrotor motors in forward // flight. Thrust is in the range 0 to 1 void output_motor_mask(float thrust, uint8_t mask); // get minimum or maximum pwm value that can be output to motors int16_t get_pwm_output_min() const; int16_t get_pwm_output_max() const; // set thrust compensation callback FUNCTOR_TYPEDEF(thrust_compensation_fn_t, void, float *, uint8_t); void set_thrust_compensation_callback(thrust_compensation_fn_t callback) { _thrust_compensation_callback = callback; } // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; protected: // run spool logic void output_logic(); // output_to_motors - sends commands to the motors virtual void output_to_motors() = 0; // update the throttle input filter virtual void update_throttle_filter(); // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max float get_current_limit_max_throttle(); // apply_thrust_curve_and_volt_scaling - returns throttle in the range 0 ~ 1 float apply_thrust_curve_and_volt_scaling(float thrust) const; // update_lift_max_from_batt_voltage - used for voltage compensation void update_lift_max_from_batt_voltage(); // update_battery_resistance - calculate battery resistance when throttle is above hover_out void update_battery_resistance(); // return gain scheduling gain based on voltage and air density float get_compensation_gain() const; // convert thrust (0~1) range back to pwm range int16_t calc_thrust_to_pwm(float thrust_in) const; // calculate spin up to pwm range int16_t calc_spin_up_to_pwm() const; // apply any thrust compensation for the frame virtual void thrust_compensation(void) {} // save parameters as part of disarming void save_params_on_disarm(); // flag bitmask struct { spool_up_down_mode spool_mode : 3; // motor's current spool mode } _multicopter_flags; // parameters AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation AP_Float _spin_min; // throttle out ratio which produces the minimum thrust. (i.e. 0 ~ 1 ) of the full throttle range AP_Float _spin_max; // throttle out ratio which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range AP_Float _spin_arm; // throttle out ratio which produces the armed spin rate. (i.e. 0 ~ 1 ) of the full throttle range AP_Float _batt_voltage_max; // maximum voltage used to scale lift AP_Float _batt_voltage_min; // minimum voltage used to scale lift AP_Float _batt_current_max; // current over which maximum throttle is limited AP_Float _batt_current_time_constant; // Time constant used to limit the maximum current AP_Int16 _pwm_min; // minimum PWM value that will ever be output to the motors (if 0, vehicle's throttle input channel's min pwm used) AP_Int16 _pwm_max; // maximum PWM value that will ever be output to the motors (if 0, vehicle's throttle input channel's max pwm used) AP_Float _throttle_hover; // estimated throttle required to hover throttle in the range 0 ~ 1 AP_Int8 _throttle_hover_learn; // enable/disabled hover thrust learning // motor output variables bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; // true if motor is enabled int16_t _throttle_radio_min; // minimum PWM from RC input's throttle channel (i.e. minimum PWM input from receiver, RC3_MIN) int16_t _throttle_radio_max; // maximum PWM from RC input's throttle channel (i.e. maximum PWM input from receiver, RC3_MAX) // spool variables float _spin_up_ratio; // throttle percentage (0 ~ 1) between zero and throttle_min // battery voltage, current and air pressure compensation variables float _batt_voltage_resting; // battery voltage reading at minimum throttle LowPassFilterFloat _batt_voltage_filt; // filtered battery voltage expressed as a percentage (0 ~ 1.0) of batt_voltage_max float _batt_current_resting; // battery's current when motors at minimum float _batt_resistance; // battery's resistance calculated by comparing resting voltage vs in flight voltage int16_t _batt_timer; // timer used in battery resistance calcs float _lift_max; // maximum lift ratio from battery voltage float _throttle_limit; // ratio of throttle limit between hover and maximum float _throttle_thrust_max; // the maximum allowed throttle thrust 0.0 to 1.0 in the range throttle_min to throttle_max // vehicle supplied callback for thrust compensation. Used for tiltrotors and tiltwings thrust_compensation_fn_t _thrust_compensation_callback; };