mirror of https://github.com/ArduPilot/ardupilot
158 lines
5.6 KiB
C++
158 lines
5.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsHeli.h
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/// @brief Motor control class for Traditional Heli
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#ifndef __AP_MOTORS_HELI_H__
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#define __AP_MOTORS_HELI_H__
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#include <inttypes.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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#define AP_MOTORS_HELI_SPEED_DEFAULT 125 // default servo update rate for helicopters
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#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
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#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
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#define AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS 3
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// tail servo uses channel 7
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#define AP_MOTORS_HELI_EXT_GYRO CH_7
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// frame definitions
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#define AP_MOTORS_HELI_SWASH_CCPM 0
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#define AP_MOTORS_HELI_SWASH_H1 1
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// ext RSC definitions
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#define AP_MOTORS_HELI_EXT_RSC CH_8
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#define AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH 1
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#define AP_MOTORSHELI_RSC_MODE_EXT_GOV 2
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// head definitions
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#define FLYBARLESS_HEAD 0
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#define FLYBAR_HEAD 1
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class AP_HeliControls;
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/// @class AP_MotorsHeli
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class AP_MotorsHeli : public AP_Motors {
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public:
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/// Constructor
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AP_MotorsHeli( RC_Channel* rc_roll,
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RC_Channel* rc_pitch,
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RC_Channel* rc_throttle,
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RC_Channel* rc_yaw,
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RC_Channel* rc_8,
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RC_Channel* swash_servo_1,
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RC_Channel* swash_servo_2,
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RC_Channel* swash_servo_3,
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RC_Channel* yaw_servo,
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uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
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_servo_1(swash_servo_1),
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_servo_2(swash_servo_2),
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_servo_3(swash_servo_3),
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_servo_4(yaw_servo),
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_rc_8(rc_8)
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{
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AP_Param::setup_object_defaults(this, var_info);
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throttle_mid = 0;
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_roll_scaler = 1;
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_pitch_scaler = 1;
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_collective_scalar = 1;
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_stab_throttle_scalar = 1;
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_swash_initialised = false;
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stab_throttle = false;
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};
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RC_Channel *_servo_1;
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RC_Channel *_servo_2;
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RC_Channel *_servo_3;
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RC_Channel *_servo_4;
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RC_Channel *_rc_8;
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AP_Int8 swash_type;
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AP_Int16 servo1_pos;
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AP_Int16 servo2_pos;
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AP_Int16 servo3_pos;
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AP_Int16 collective_min;
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AP_Int16 collective_max;
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AP_Int16 collective_mid;
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AP_Int16 ext_gyro_enabled;
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AP_Int16 ext_gyro_gain;
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AP_Int16 roll_max;
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AP_Int16 pitch_max;
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AP_Int16 phase_angle;
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AP_Int16 collective_yaw_effect;
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AP_Int8 servo_manual; // used to trigger swash reset from mission planner
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AP_Int16 ext_gov_setpoint; // maximum output to the motor governor
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AP_Int8 rsc_mode; // sets the mode for rotor speed controller
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AP_Int16 rsc_ramp_up_rate; // sets the time in 100th seconds the RSC takes to ramp up to speed
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AP_Int8 flybar_mode; // selects FBL Acro Mode, or Flybarred Acro Mode
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int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000)
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AP_Int8 stab_col_min; // collective pitch minimum in Stabilize Mode
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AP_Int8 stab_col_max; // collective pitch maximum in Stabilize Mode
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bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range
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int16_t coll_out; // returns the actual collective in use to the main code
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// init
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void Init();
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// set update rate to motors - a value in hertz
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// you must have setup_motors before calling this
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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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void enable();
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// motor test
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void output_test();
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// output_min - sends minimum values out to the motors
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void output_min();
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// init_swash - initialise the swash plate
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void init_swash();
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// output - sends commands to the motors
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void output_armed();
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// heli_move_swash - moves swash plate to attitude of parameters passed in
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void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);
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// reset_swash - free up swash for maximum movements. Used for set-up
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void reset_swash();
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void output_disarmed();
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void rsc_control();
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float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
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float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
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float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
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// internally used variables
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float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
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float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
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float _collective_scalar; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
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float _stab_throttle_scalar; // throttle scalar to reduce the range of the collective movement in stabilize mode
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bool _swash_initialised; // true if swash has been initialised
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int16_t rsc_output; // final output to the external motor governor 1000-2000
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int16_t rsc_ramp; // current state of ramping
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};
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#endif // AP_MOTORSHELI
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