mirror of https://github.com/ArduPilot/ardupilot
175 lines
6.3 KiB
C
175 lines
6.3 KiB
C
/*
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www.ArduCopter.com - www.DIYDrones.com
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Copyright (c) 2010. All rights reserved.
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An Open Source Arduino based multicopter.
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File : Arducopter.h
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Version : v1.0, Aug 27, 2010
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Author(s): ArduCopter Team
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz,
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Jani Hirvinen, Ken McEwans, Roberto Navoni,
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Sandro Benigno, Chris Anderson
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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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ChangeLog:
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* ************************************************************** *
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TODO:
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* ************************************************************** */
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#ifndef HELI_H
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#define HELI_H
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#include <avr/interrupt.h>
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#include "WProgram.h"
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#include <Wire.h>
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#include <EEPROM.h> // added by Randy
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <APM_Compass.h> // ArduPilot Mega Compass Library
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#include <DataFlash.h> // ArduPilot Mega DataFlash Library.
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#include "../AP_Math/AP_Math.h"
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/**********************************************************************/
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// Channel definitions
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#define CHANNEL_FRONT_LEFT 0
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#define CHANNEL_FRONT_RIGHT 1
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#define CHANNEL_REAR 2
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#define CHANNEL_YAW 3
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/**********************************************************************/
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// EEPROM locations
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#define EEPROM_BASE_ADDRESS 300
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#define EEPROM_MAGIC_NUMBER_ADDR EEPROM_BASE_ADDRESS
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#define FRONT_LEFT_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+4
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#define FRONT_LEFT_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+8
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#define FRONT_RIGHT_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+12
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#define FRONT_RIGHT_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+16
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#define REAR_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+20
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#define REAR_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+24
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#define YAW_MIN_ADDR EEPROM_BASE_ADDRESS+28
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#define YAW_MAX_ADDR EEPROM_BASE_ADDRESS+32
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#define THROTTLE_MIN_ADDR EEPROM_BASE_ADDRESS+36
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#define THROTTLE_MAX_ADDR EEPROM_BASE_ADDRESS+40
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#define EEPROM_MAGIC_NUMBER 12345.0
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#define YAW_MODE_HEADING_HOLD 0
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#define YAW_MODE_RATE 1
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#define HELI_STICK_TO_ANGLE_FACTOR 2.0 // To convert ccpm values (-50 ~ 50 ) to absolute angles. larger number means less lean
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#define HELI_YAW_STICK_TO_ANGLE_FACTOR 0.5 // convert yaw (-50 ~ 50) to turn rate in degrees per second. larger number means slower turn rate
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// CCPM Types
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#define HELI_CCPM_120_TWO_FRONT_ONE_BACK 0
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#define HELI_CCPM_120_ONE_FRONT_TWO_BACK 1
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// define which CCPM we have
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#define HELI_CCPM HELI_CCPM_120_TWO_FRONT_ONE_BACK
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// define DeAllocation matrix(converts radio inputs to roll, pitch and collective
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// for example roll = (inputCh0*Row1Col1) + (inputCh1*Row1Col2) + (inputCh2*Row1Col3)
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// pitch = (inputCh0*Row2Col1) + (inputCh1*Row2Col2) + (inputCh2*Row2Col3)
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// collective = (inputCh0*Row3Col1) + (inputCh1*Row3Col2) + (inputCh2*Row3Col3)
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// and Allocation matrix (converts roll, pitch, collective to servo outputs)
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// for example servo0 = (roll*Row1Col1) + (pitch*Row1Col2) + (collective*Row1Col3)
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// servo1 = (roll*Row2Col1) + (pitch*Row2Col2) + (collective*Row2Col3)
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// servo2 = (roll*Row3Col1) + (pitch*Row3Col2) + (collective*Row3Col3)
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#if HELI_CCPM == HELI_CCPM_120_TWO_FRONT_ONE_BACK
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#define CCPM_DEALLOCATION 0.5774, -0.5774, 0.0000, \
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0.3333, 0.3333, -0.6667, \
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0.3333, 0.3333, 0.3333
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#define CCPM_ALLOCATION 0.8660,0.5000, 1.0000, \
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-0.8660, 0.5000, 1.0000, \
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0.0000, -1.0000, 1.0000
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#endif
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#if HELI_CCPM == HELI_CCPM_120_ONE_FRONT_TWO_BACK
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#define CCPM_DEALLOCATION 0.5774, -0.5774, 0.0000, \
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-0.3333,-0.3333, 0.6667, \
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0.3333, 0.3333, 0.3333
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#define CCPM_ALLOCATION 0.8660, -0.5000, 1.0000, \
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-0.8660, -0.5000, 1.0000, \
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0.0000, 1.0000, 1.0000
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#endif
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const Matrix3f ccpmDeallocation(CCPM_DEALLOCATION);
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const Matrix3f ccpmAllocation(CCPM_ALLOCATION);
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/**********************************************************************/
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// time variables - we run at a different hertz than quads
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unsigned long heli_previousTimeMicros = 0;
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// PWM Input Processing - Variable Definitions
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float frontLeftCCPMmin;
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float frontLeftCCPMmax;
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float frontLeftCCPMslope;
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float frontLeftCCPMintercept;
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float frontRightCCPMmin;
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float frontRightCCPMmax;
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float frontRightCCPMslope;
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float frontRightCCPMintercept;
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float rearCCPMmin;
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float rearCCPMmax;
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float rearCCPMslope;
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float rearCCPMintercept;
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float yawMin;
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float yawMax;
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float yawSlope;
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float yawIntercept;
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Vector3f ccpmPercents; // Array of ccpm input values, converted to percents
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Vector3f rollPitchCollPercent; // Array containing deallocated roll, pitch and collective percent commands
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float ch_collective;
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int collective_mid;
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float control_collective;
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float command_rx_collective;
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float yawPercent;
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float targetHeading;
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// trims
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float trim_roll = 0.0;
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float trim_pitch = 0.0;
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float trim_yaw = 0.0;
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// axis under APM control
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int roll_control_switch = 1;
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int pitch_control_switch = 1;
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int yaw_control_switch = 1;
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int collective_control_switch = 0;
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/// for sending values out to servos
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Vector3f ccpmPercents_out; // Array of ccpm input values, converted to percents
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Vector3f pitchRollCollPercent_out; // Array containing deallocated pitch, roll, and collective percent commands
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// heli debug
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int heli_debug = 0;
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/**********************************************************************/
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// Output to Servos
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int leftOut;
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int rightOut;
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int rearOut;
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int yawOut;
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#endif HELI_H
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