mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.2 KiB
Plaintext
135 lines
3.2 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == TRI_FRAME
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static void init_motors_out()
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{
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#if INSTANT_PWM == 0
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APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4) );
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#endif
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}
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static void motors_output_enable()
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{
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APM_RC.enable_out(MOT_1);
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APM_RC.enable_out(MOT_2);
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APM_RC.enable_out(MOT_4);
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APM_RC.enable_out(CH_TRI_YAW);
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}
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static void output_motors_armed()
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{
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 800);
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if(g.rc_3.servo_out > 0)
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out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
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g.rc_1.calc_pwm();
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g.rc_2.calc_pwm();
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g.rc_3.calc_pwm();
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int roll_out = (float)g.rc_1.pwm_out * .866;
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int pitch_out = g.rc_2.pwm_out / 2;
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//left front
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motor_out[MOT_2] = g.rc_3.radio_out + roll_out + pitch_out;
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//right front
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motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out;
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// rear
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motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
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//motor_out[MOT_4] += (float)(abs(g.rc_4.control_in)) * .013;
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// Tridge's stability patch
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if (motor_out[MOT_1] > out_max) {
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motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1;
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motor_out[MOT_4] -= (motor_out[MOT_1] - out_max) >> 1;
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motor_out[MOT_1] = out_max;
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}
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if (motor_out[MOT_2] > out_max) {
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motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1;
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motor_out[MOT_4] -= (motor_out[MOT_2] - out_max) >> 1;
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motor_out[MOT_2] = out_max;
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}
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if (motor_out[MOT_4] > out_max) {
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motor_out[MOT_1] -= (motor_out[MOT_4] - out_max) >> 1;
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motor_out[MOT_2] -= (motor_out[MOT_4] - out_max) >> 1;
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motor_out[MOT_4] = out_max;
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}
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// limit output so motors don't stop
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motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
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motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
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motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
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#if CUT_MOTORS == ENABLED
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// if we are not sending a throttle output, we cut the motors
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if(g.rc_3.servo_out == 0){
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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}
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#endif
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APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
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APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
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#if INSTANT_PWM == 1
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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#endif
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}
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static void output_motors_disarmed()
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{
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if(g.rc_3.control_in > 0){
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// we have pushed up the throttle
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// remove safety
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motor_auto_armed = true;
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}
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// fill the motor_out[] array for HIL use
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for (unsigned char i = 0; i < 8; i++) {
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motor_out[i] = g.rc_3.radio_min;
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}
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// Send commands to motors
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
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}
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static void output_motor_test()
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{
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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if(g.rc_1.control_in > 3000){ // right
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motor_out[MOT_1] += 100;
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}
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if(g.rc_1.control_in < -3000){ // left
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motor_out[MOT_2] += 100;
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}
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if(g.rc_2.control_in > 3000){ // back
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motor_out[MOT_4] += 100;
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}
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APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
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APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
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}
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#endif
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