mirror of https://github.com/ArduPilot/ardupilot
171 lines
8.0 KiB
C++
171 lines
8.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_MOTORS_CLASS_H__
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#define __AP_MOTORS_CLASS_H__
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Notify.h> // Notify library
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#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <RC_Channel.h> // RC Channel Library
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// offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays
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#define AP_MOTORS_MOT_1 0
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#define AP_MOTORS_MOT_2 1
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#define AP_MOTORS_MOT_3 2
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#define AP_MOTORS_MOT_4 3
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#define AP_MOTORS_MOT_5 4
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#define AP_MOTORS_MOT_6 5
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#define AP_MOTORS_MOT_7 6
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#define AP_MOTORS_MOT_8 7
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#define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_7,CH_8,CH_10,CH_11
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#define APM2_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7,CH_8
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#define AP_MOTORS_MAX_NUM_MOTORS 8
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#define AP_MOTORS_DEFAULT_MIN_THROTTLE 130
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#define AP_MOTORS_DEFAULT_MID_THROTTLE 500
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#define AP_MOTORS_DEFAULT_MAX_THROTTLE 1000
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// APM board definitions
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#define AP_MOTORS_APM1 1
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#define AP_MOTORS_APM2 2
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// frame definitions
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#define AP_MOTORS_PLUS_FRAME 0
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#define AP_MOTORS_X_FRAME 1
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#define AP_MOTORS_V_FRAME 2
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#define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction
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// motor update rate
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#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors
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#define THROTTLE_CURVE_ENABLED 1 // throttle curve disabled by default
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#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
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#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
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#define AP_MOTORS_SPIN_WHEN_ARMED 100 // spin motors at this PWM value when armed
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// bit mask for recording which limits we have reached when outputting to motors
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#define AP_MOTOR_NO_LIMITS_REACHED 0x00
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#define AP_MOTOR_ROLLPITCH_LIMIT 0x01
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#define AP_MOTOR_YAW_LIMIT 0x02
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#define AP_MOTOR_THROTTLE_LIMIT 0x04
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#define AP_MOTOR_ANY_LIMIT 0xFF
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// slow start increment - max throttle increase per (100hz) iteration. i.e. 10 = full speed in 1 second
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#define AP_MOTOR_SLOW_START_INCREMENT 10
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/// @class AP_Motors
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class AP_Motors {
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public:
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// Constructor
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AP_Motors( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
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// init
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virtual void Init();
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// set mapping from motor number to RC channel
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void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
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_motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
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_motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
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_motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
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_motor_to_channel_map[AP_MOTORS_MOT_4] = mot_4;
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_motor_to_channel_map[AP_MOTORS_MOT_5] = mot_5;
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_motor_to_channel_map[AP_MOTORS_MOT_6] = mot_6;
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_motor_to_channel_map[AP_MOTORS_MOT_7] = mot_7;
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_motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
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}
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// set update rate to motors - a value in hertz
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virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; };
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// set frame orientation (normally + or X)
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virtual void set_frame_orientation( uint8_t new_orientation ) { _flags.frame_orientation = new_orientation; };
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// enable - starts allowing signals to be sent to motors
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virtual void enable() = 0;
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// arm, disarm or check status status of motors
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bool armed() { return _flags.armed; };
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void armed(bool arm);
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// set_min_throttle - 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)
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void set_min_throttle(uint16_t min_throttle);
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// set_mid_throttle - sets the mid throttle which is close to the hover throttle of the copter
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// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control
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void set_mid_throttle(uint16_t mid_throttle);
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// output - sends commands to the motors
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void output();
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// output_min - sends minimum values out to the motors
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virtual void output_min() = 0;
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// motor test
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virtual void output_test() = 0;
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// throttle_pass_through - passes pilot's throttle input directly to all motors - dangerous but used for initialising ESCs
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virtual void throttle_pass_through();
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// setup_throttle_curve - used to linearlise thrust output by motors
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// returns true if curve is created successfully
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bool setup_throttle_curve();
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// 1 if motor is enabled, 0 otherwise
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bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
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// slow_start - set to true to slew motors from current speed to maximum
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// Note: this must be set immediately before a step up in throttle
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void slow_start(bool true_false);
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// final output values sent to the motors. public (for now) so that they can be access for logging
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int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];
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// structure for holding motor limit flags
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struct AP_Motors_limit {
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uint8_t roll_pitch : 1; // we have reached roll or pitch limit
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uint8_t yaw : 1; // we have reached yaw limit
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uint8_t throttle_lower : 1; // we have reached throttle's lower limit
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uint8_t throttle_upper : 1; // we have reached throttle's upper limit
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} limit;
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// output functions that should be overloaded by child classes
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virtual void output_armed() {};
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virtual void output_disarmed() {};
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// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag
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void update_max_throttle();
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// flag bitmask
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struct AP_Motors_flags {
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uint8_t armed : 1; // 1 if the motors are armed, 0 if disarmed
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uint8_t frame_orientation : 2; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3
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uint8_t slow_start : 1; // 1 if slow start is active
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} _flags;
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// parameters
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AP_CurveInt16_Size4 _throttle_curve; // curve used to linearize the pwm->thrust
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AP_Int8 _throttle_curve_enabled; // enable throttle curve
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AP_Int8 _throttle_curve_mid; // throttle which produces 1/2 the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
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AP_Int8 _throttle_curve_max; // throttle which produces the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
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AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
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// internal variables
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RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users
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uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
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uint16_t _speed_hz; // speed in hz to send updates to motors
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int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
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int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)
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int16_t _hover_out; // the estimated hover throttle in pwm (i.e. 1000 ~ 2000). calculated from the THR_MID parameter
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};
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#endif // __AP_MOTORS_CLASS_H__
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