mirror of https://github.com/ArduPilot/ardupilot
57 lines
2.0 KiB
C++
57 lines
2.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsTri.h
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/// @brief Motor control class for Tricopters
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#ifndef __AP_MOTORS_TRI_H__
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#define __AP_MOTORS_TRI_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 "AP_Motors.h"
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// tail servo uses channel 7
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#define AP_MOTORS_CH_TRI_YAW CH_7
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/// @class AP_MotorsTri
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class AP_MotorsTri : public AP_Motors {
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public:
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/// Constructor
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AP_MotorsTri(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& rc_tail, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, loop_rate, speed_hz),
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_rc_tail(rc_tail) {
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};
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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
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void set_update_rate( uint16_t speed_hz );
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// enable - starts allowing signals to be sent to motors
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virtual void enable();
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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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virtual void output_test(uint8_t motor_seq, int16_t pwm);
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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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// 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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virtual uint16_t get_motor_mask();
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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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RC_Channel& _rc_tail; // REV parameter used from this channel to determine direction of tail servo movement
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};
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#endif // AP_MOTORSTRI
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