/// @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_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 0.35f // 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_THST_HOVER_MIN 0.125f // minimum possible hover throttle #define AP_MOTORS_THST_HOVER_MAX 0.6875f // maximum possible hover throttle #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 #define AP_MOTORS_SLEW_TIME_DEFAULT 0.0f // slew rate limit for thrust output #define AP_MOTORS_SAFE_TIME_DEFAULT 1.0f // Time for the esc when transitioning between zero pwm to minimum // spool definition #define AP_MOTORS_SPOOL_UP_TIME_DEFAULT 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() override; // output_min - sends minimum values out to the motors void output_min() override; // 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 override { return constrain_float(_throttle_hover, AP_MOTORS_THST_HOVER_MIN, AP_MOTORS_THST_HOVER_MAX); } // 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() const { 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 throttle limit imposed by battery current limiting. This is a number from 0 ~ 1 where 0 means hover throttle, 1 means full throttle (i.e. not limited) 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 _spool_state == SpoolState::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 virtual void output_motor_mask(float thrust, uint8_t mask, float rudder_dt); // 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() override; // 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; // parameter check for MOT_PWM_MIN/MAX, returns true if parameters are valid bool check_mot_pwm_params() const; // converts desired thrust to linearized actuator output in a range of 0~1 float thrust_to_actuator(float thrust_in); // 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; } // disable the use of motor torque to control yaw. Used when an external mechanism such // as vectoring is used for yaw control virtual void disable_yaw_torque(void) {} // 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() override; // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max virtual 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(); // return gain scheduling gain based on voltage and air density float get_compensation_gain() const; // convert actuator output (0~1) range to pwm range int16_t output_to_pwm(float _actuator_output); // adds slew rate limiting to actuator output if MOT_SLEW_TIME > 0 and not shutdown void set_actuator_with_slew(float& actuator_output, float input); // gradually increase actuator output to ground idle float actuator_spin_up_to_ground_idle() const; // apply any thrust compensation for the frame virtual void thrust_compensation(void) {} // output booster throttle, if any virtual void output_boost_throttle(void); // output roll/pitch/yaw/thrust virtual void output_rpyt(void); // save parameters as part of disarming void save_params_on_disarm() override; // enum values for HOVER_LEARN parameter enum HoverLearn { HOVER_LEARN_DISABLED = 0, HOVER_LEARN_ONLY = 1, HOVER_LEARN_AND_SAVE = 2 }; // 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 _slew_up_time; // throttle increase slew limitting AP_Float _slew_dn_time; // throttle decrease slew limitting AP_Float _safe_time; // Time for the esc when transitioning between zero pwm to minimum 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_Int8 _batt_idx; // battery index used for compensation 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 AP_Int8 _disarm_disable_pwm; // disable PWM output while disarmed // Maximum lean angle of yaw servo in degrees. This is specific to tricopter AP_Float _yaw_servo_angle_max_deg; // time to spool motors to min throttle AP_Float _spool_up_time; // scaling for booster motor throttle AP_Float _boost_scale; // 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 // spool variables float _spin_up_ratio; // throttle percentage (0 ~ 1) between zero and throttle_min // battery voltage, current and air pressure compensation variables LowPassFilterFloat _batt_voltage_filt; // filtered battery voltage expressed as a percentage (0 ~ 1.0) of batt_voltage_max 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 float _disarm_safe_timer; // Timer for the esc when transitioning between zero pwm to minimum // vehicle supplied callback for thrust compensation. Used for tiltrotors and tiltwings thrust_compensation_fn_t _thrust_compensation_callback; // array of motor output values float _actuator[AP_MOTORS_MAX_NUM_MOTORS]; };