mirror of https://github.com/ArduPilot/ardupilot
108 lines
3.8 KiB
C++
108 lines
3.8 KiB
C++
/*
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* AP_Motors.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#include "AP_Motors.h"
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// parameters for the motor class
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const AP_Param::GroupInfo AP_Motors::var_info[] PROGMEM = {
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AP_GROUPINFO("TB_RATIO", 0, AP_Motors, top_bottom_ratio, AP_MOTORS_TOP_BOTTOM_RATIO), // not used
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AP_GROUPINFO("TCRV_ENABLE", 1, AP_Motors, _throttle_curve_enabled, THROTTLE_CURVE_ENABLED),
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AP_GROUPINFO("TCRV_MIDPCT", 2, AP_Motors, _throttle_curve_mid, THROTTLE_CURVE_MID_THRUST),
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AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
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AP_GROUPEND
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};
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// Constructor
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AP_Motors::AP_Motors( 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 ) :
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_rc(rc_out),
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_rc_roll(rc_roll),
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_rc_pitch(rc_pitch),
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_rc_throttle(rc_throttle),
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_rc_yaw(rc_yaw),
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_speed_hz(speed_hz),
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_armed(false),
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_auto_armed(false),
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_frame_orientation(0),
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_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
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_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE)
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{
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uint8_t i;
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top_bottom_ratio = AP_MOTORS_TOP_BOTTOM_RATIO;
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// initialise motor map
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if( APM_version == AP_MOTORS_APM1 ) {
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set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
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} else {
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set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
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}
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// clear output arrays
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for(i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
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motor_out[i] = 0;
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}
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};
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// init
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void AP_Motors::Init()
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{
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// set-up throttle curve - motors classes will decide whether to use it based on _throttle_curve_enabled parameter
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setup_throttle_curve();
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};
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// throttle_pass_through - passes throttle through to motors - dangerous but used for initialising ESCs
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void AP_Motors::throttle_pass_through()
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{
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if( armed() ) {
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for( int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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_rc->OutputCh(_motor_to_channel_map[i], _rc_throttle->radio_in);
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}
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}
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}
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// setup_throttle_curve - used to linearlise thrust output by motors
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// returns true if set up successfully
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bool AP_Motors::setup_throttle_curve()
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{
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int16_t min_pwm = _rc_throttle->radio_min;
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int16_t max_pwm = _rc_throttle->radio_max;
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int16_t mid_throttle_pwm = (max_pwm + min_pwm) / 2;
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int16_t mid_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_mid/100.0);
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int16_t max_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_max/100.0);
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bool retval = true;
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Serial.printf_P(PSTR("AP_Motors: setup_throttle_curve"));
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Serial.printf_P(PSTR("mid:%d\tmax:%d\n"),(int)mid_thrust_pwm,(int)max_thrust_pwm);
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// some basic checks that the curve is valid
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if( mid_thrust_pwm >= (min_pwm+_min_throttle) && mid_thrust_pwm <= max_pwm && max_thrust_pwm >= mid_thrust_pwm && max_thrust_pwm <= max_pwm ) {
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// clear curve
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_throttle_curve.clear();
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// curve initialisation
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retval &= _throttle_curve.add_point(min_pwm, min_pwm);
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retval &= _throttle_curve.add_point(min_pwm+_min_throttle, min_pwm+_min_throttle);
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retval &= _throttle_curve.add_point(mid_throttle_pwm, mid_thrust_pwm);
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retval &= _throttle_curve.add_point(max_pwm, max_thrust_pwm);
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// return success
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return retval;
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}else{
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retval = false;
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}
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// disable throttle curve if not set-up corrrectly
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if( !retval ) {
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_throttle_curve_enabled = false;
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Serial.printf_P(PSTR("AP_Motors: failed to create throttle curve"));
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}
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return retval;
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} |