mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.6 KiB
C++
93 lines
3.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_MotorsMatrix.h
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/// @brief Motor control class for Matrixcopters
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#ifndef AP_MOTORSMATRIX
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#define AP_MOTORSMATRIX
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel.h> // RC Channel Library
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <AP_Motors.h>
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#define AP_MOTORS_MATRIX_MOTOR_UNDEFINED -1
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#define AP_MOTORS_MATRIX_ORDER_UNDEFINED -1
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#define AP_MOTORS_MATRIX_MOTOR_CW -1
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#define AP_MOTORS_MATRIX_MOTOR_CCW 1
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/// @class AP_MotorsMatrix
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class AP_MotorsMatrix : public AP_Motors {
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public:
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/// Constructor
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AP_MotorsMatrix( uint8_t APM_version, APM_RC_Class* rc_out, 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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AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
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instant_pwm_force01(false),
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instant_pwm_force23(false),
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instant_pwm_force67(false),
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_num_motors(0) {};
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// init
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virtual void Init();
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// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
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// you must have setup_motors before calling this
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virtual void set_update_rate( uint16_t 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 );
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// enable - starts allowing signals to be sent to motors
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virtual void enable();
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// get basic information about the platform
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virtual uint8_t get_num_motors() { return _num_motors; };
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// motor test
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virtual void output_test();
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// output_min - sends minimum values out to the motors
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virtual void output_min();
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// add_motor using just position and prop direction
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virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
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// remove_motor
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virtual void remove_motor(int8_t motor_num);
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// remove_all_motors - removes all motor definitions
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virtual void remove_all_motors();
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// setup_motors - configures the motors for a given frame type - should be overwritten by child classes
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virtual void setup_motors() { remove_all_motors(); };
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// matrix
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AP_Int16 angle[AP_MOTORS_MAX_NUM_MOTORS]; // angle in degrees from the front of the copter
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AP_Int8 direction[AP_MOTORS_MAX_NUM_MOTORS]; // direction of rotation of the motor (-1 = clockwise, +1 = counter clockwise)
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AP_Int8 opposite_motor[AP_MOTORS_MAX_NUM_MOTORS]; // motor number of the opposite motor
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AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
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// used for instant_pwm only
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bool instant_pwm_force01;
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bool instant_pwm_force23;
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bool instant_pwm_force67;
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protected:
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// output - sends commands to the motors
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virtual void output_armed();
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virtual void output_disarmed();
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// add_motor using raw roll, pitch, throttle and yaw factors
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virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
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int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
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float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
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float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
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float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
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};
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#endif // AP_MOTORSMATRIX
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