mirror of https://github.com/ArduPilot/ardupilot
67 lines
2.7 KiB
C++
67 lines
2.7 KiB
C++
/// @file AP_MotorsSingle.h
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/// @brief Motor and Servo control class for Singlecopters
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <SRV_Channel/SRV_Channel.h>
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#include "AP_MotorsMulticopter.h"
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// feedback direction
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#define AP_MOTORS_SING_POSITIVE 1
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#define AP_MOTORS_SING_NEGATIVE -1
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#define NUM_ACTUATORS 4
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#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
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#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
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#define AP_MOTORS_SINGLE_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)
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/// @class AP_MotorsSingle
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class AP_MotorsSingle : public AP_MotorsMulticopter {
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public:
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/// Constructor
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AP_MotorsSingle(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
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{
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};
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// init
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void init(motor_frame_class frame_class, motor_frame_type frame_type);
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// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
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void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
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// set update rate to motors - a value in hertz
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void set_update_rate( uint16_t speed_hz );
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// enable - starts allowing signals to be sent to motors
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virtual void enable();
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// output_test - spin a motor at the pwm value specified
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// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
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// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
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virtual void output_test(uint8_t motor_seq, int16_t pwm);
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// output_to_motors - sends minimum values out to the motors
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virtual void output_to_motors();
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// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
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// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
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virtual uint16_t get_motor_mask();
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing();
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int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
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float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
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float _thrust_out;
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SRV_Channel *_servo1;
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SRV_Channel *_servo2;
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SRV_Channel *_servo3;
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SRV_Channel *_servo4;
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};
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