mirror of https://github.com/ArduPilot/ardupilot
285 lines
11 KiB
C++
285 lines
11 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_MotorsSingle.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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*/
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include "AP_MotorsSingle.h"
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_MotorsSingle::var_info[] PROGMEM = {
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// variables from parent vehicle
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AP_NESTEDGROUPINFO(AP_Motors, 0),
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// parameters 1 ~ 29 reserved for tradheli
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// parameters 30 ~ 39 reserved for tricopter
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// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
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// @Param: ROLL_SV_REV
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// @DisplayName: Reverse roll feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Reversed,1:Normal
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AP_GROUPINFO("ROLL_SV_REV", 40, AP_MotorsSingle, _rev_roll, AP_MOTORS_SING_POSITIVE),
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// @Param: PITCH_SV_REV
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// @DisplayName: Reverse pitch feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Reversed,1:Normal
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AP_GROUPINFO("PITCH_SV_REV", 41, AP_MotorsSingle, _rev_pitch, AP_MOTORS_SING_POSITIVE),
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// @Param: YAW_SV_REV
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// @DisplayName: Reverse yaw feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Reversed,1:Normal
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AP_GROUPINFO("YAW_SV_REV", 42, AP_MotorsSingle, _rev_yaw, AP_MOTORS_SING_POSITIVE),
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// @Param: SV_SPEED
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// @DisplayName: Servo speed
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// @Description: Servo update speed in hz
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// @Values: 50, 125, 250
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AP_GROUPINFO("SV_SPEED", 43, AP_MotorsSingle, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS),
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AP_GROUPEND
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};
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// init
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void AP_MotorsSingle::Init()
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{
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// call parent Init function to set-up throttle curve
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AP_Motors::Init();
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// set update rate for the 3 motors (but not the servo on channel 7)
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set_update_rate(_speed_hz);
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// set the motor_enabled flag so that the main ESC can be calibrated like other frame types
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motor_enabled[AP_MOTORS_MOT_7] = true;
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// we set four servos to angle
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_servo1.set_type(RC_CHANNEL_TYPE_ANGLE);
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_servo2.set_type(RC_CHANNEL_TYPE_ANGLE);
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_servo3.set_type(RC_CHANNEL_TYPE_ANGLE);
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_servo4.set_type(RC_CHANNEL_TYPE_ANGLE);
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_servo1.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
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_servo2.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
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_servo3.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
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_servo4.set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
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// disable CH7 from being used as an aux output (i.e. for camera gimbal, etc)
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RC_Channel_aux::disable_aux_channel(CH_7);
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}
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// set update rate to motors - a value in hertz
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void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
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{
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// record requested speed
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_speed_hz = speed_hz;
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// set update rate for the 3 motors (but not the servo on channel 7)
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uint32_t mask =
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) |
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) |
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]) |
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]) ;
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hal.rcout->set_freq(mask, _servo_speed);
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uint32_t mask2 = 1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]);
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hal.rcout->set_freq(mask2, _speed_hz);
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}
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// enable - starts allowing signals to be sent to motors
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void AP_MotorsSingle::enable()
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{
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// enable output channels
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]));
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}
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// output_min - sends minimum values out to the motor and trim values to the servos
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void AP_MotorsSingle::output_min()
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{
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// send minimum value to each motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_trim);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_trim);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), _throttle_radio_min);
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}
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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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uint16_t AP_MotorsSingle::get_motor_mask()
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{
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// single copter uses channels 1,2,3,4 and 7
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return (1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << 6);
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}
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void AP_MotorsSingle::output_armed_not_stabilizing()
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{
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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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int16_t out_min = _throttle_radio_min + _min_throttle;
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int16_t min_thr = rel_pwm_to_thr_range(_spin_when_armed_ramped);
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// initialize limits flags
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limit.roll_pitch = true;
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limit.yaw = true;
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limit.throttle_lower = false;
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limit.throttle_upper = false;
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if (_throttle_control_input <= min_thr) {
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_throttle_control_input = min_thr;
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limit.throttle_lower = true;
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}
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if (_throttle_control_input >= _max_throttle) {
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_throttle_control_input = _max_throttle;
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limit.throttle_upper = true;
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}
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throttle_radio_output = calc_throttle_radio_output();
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// front servo
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_servo1.servo_out = 0;
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// right servo
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_servo2.servo_out = 0;
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// rear servo
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_servo3.servo_out = 0;
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// left servo
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_servo4.servo_out = 0;
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_servo1.calc_pwm();
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_servo2.calc_pwm();
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_servo3.calc_pwm();
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_servo4.calc_pwm();
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if (throttle_radio_output >= out_min) {
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throttle_radio_output = apply_thrust_curve_and_volt_scaling(throttle_radio_output, out_min, _throttle_radio_max);
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}
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), throttle_radio_output);
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}
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// sends commands to the motors
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// TODO pull code that is common to output_armed_not_stabilizing into helper functions
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void AP_MotorsSingle::output_armed_stabilizing()
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{
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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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int16_t out_min = _throttle_radio_min + _min_throttle;
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// initialize limits flags
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limit.roll_pitch = false;
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limit.yaw = false;
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limit.throttle_lower = false;
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limit.throttle_upper = false;
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// Throttle is 0 to 1000 only
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if (_throttle_control_input <= _min_throttle) {
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_throttle_control_input = _min_throttle;
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limit.throttle_lower = true;
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}
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if (_throttle_control_input >= _max_throttle) {
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_throttle_control_input = _max_throttle;
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limit.throttle_upper = true;
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}
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// calculate throttle PWM
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throttle_radio_output = calc_throttle_radio_output();
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// adjust for thrust curve and voltage scaling
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throttle_radio_output = apply_thrust_curve_and_volt_scaling(throttle_radio_output, out_min, _throttle_radio_max);
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// ensure motor doesn't drop below a minimum value and stop
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throttle_radio_output = max(throttle_radio_output, out_min);
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// TODO: set limits.roll_pitch and limits.yaw
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// front servo
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_servo1.servo_out = _rev_roll*_roll_control_input + _rev_yaw*_yaw_control_input;
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// right servo
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_servo2.servo_out = _rev_pitch*_pitch_control_input + _rev_yaw*_yaw_control_input;
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// rear servo
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_servo3.servo_out = -_rev_roll*_roll_control_input + _rev_yaw*_yaw_control_input;
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// left servo
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_servo4.servo_out = -_rev_pitch*_pitch_control_input + _rev_yaw*_yaw_control_input;
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_servo1.calc_pwm();
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_servo2.calc_pwm();
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_servo3.calc_pwm();
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_servo4.calc_pwm();
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// send output to each motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo3.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo4.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), throttle_radio_output);
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}
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// output_disarmed - sends commands to the motors
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void AP_MotorsSingle::output_disarmed()
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{
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// Send minimum values to all motors
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output_min();
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}
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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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void AP_MotorsSingle::output_test(uint8_t motor_seq, int16_t pwm)
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{
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// exit immediately if not armed
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if (!armed()) {
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return;
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}
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// output to motors and servos
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switch (motor_seq) {
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case 1:
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// flap servo 1
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm);
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break;
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case 2:
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// flap servo 2
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm);
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break;
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case 3:
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// flap servo 3
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), pwm);
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break;
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case 4:
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// flap servo 4
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
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break;
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case 5:
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// spin main motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), pwm);
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break;
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default:
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// do nothing
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break;
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}
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}
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