ardupilot/libraries/AP_Motors/AP_MotorsCoax.h

74 lines
2.8 KiB
C++

/// @file AP_MotorsCoax.h
/// @brief Motor and Servo control class for Co-axial helicopters with two motors and two flaps
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include "AP_MotorsMulticopter.h"
// feedback direction
#define AP_MOTORS_COAX_POSITIVE 1
#define AP_MOTORS_COAX_NEGATIVE -1
#define NUM_ACTUATORS 4
#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
#define AP_MOTORS_COAX_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
/// @class AP_MotorsSingle
class AP_MotorsCoax : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsCoax(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMulticopter(loop_rate, speed_hz),
_servo1(CH_NONE), _servo2(CH_NONE), _servo3(CH_NONE), _servo4(CH_NONE)
{
AP_Param::setup_object_defaults(this, var_info);
};
// init
virtual void Init();
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
// enable - starts allowing signals to be sent to motors
virtual void enable();
// 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);
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (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();
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// output - sends commands to the motors
void output_armed_stabilizing();
// servo speed
AP_Int16 _servo_speed;
// Allow the use of a 4 servo output to make it easy to test coax and single using same airframe
RC_Channel _servo1;
RC_Channel _servo2;
RC_Channel _servo3;
RC_Channel _servo4;
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_yt_ccw;
float _thrust_yt_cw;
};