mirror of https://github.com/ArduPilot/ardupilot
335 lines
11 KiB
Plaintext
335 lines
11 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == HELI_FRAME
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#define HELI_SERVO_AVERAGING_DIGITAL 0 // 250Hz
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#define HELI_SERVO_AVERAGING_ANALOG 2 // 125Hz
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static bool heli_swash_initialised = false;
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static int heli_throttle_mid = 0; // throttle mid point in pwm form (i.e. 0 ~ 1000)
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static float heli_collective_scalar = 1; // 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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// heli_servo_averaging:
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// 0 or 1 = no averaging, 250hz
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// 2 = average two samples, 125hz
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// 3 = averaging three samples = 83.3 hz
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// 4 = averaging four samples = 62.5 hz
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// 5 = averaging 5 samples = 50hz
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// digital = 0 / 250hz, analog = 2 / 83.3
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// reset swash for maximum movements - used for set-up
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static void heli_reset_swash()
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{
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// free up servo ranges
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g.heli_servo_1.radio_min = 1000;
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g.heli_servo_1.radio_max = 2000;
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g.heli_servo_2.radio_min = 1000;
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g.heli_servo_2.radio_max = 2000;
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g.heli_servo_3.radio_min = 1000;
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g.heli_servo_3.radio_max = 2000;
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if (!g.heli_h1_swash_enabled){ //CCPM Swashplate, perform servo control mixing
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// roll factors
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heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90 - g.heli_phase_angle));
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heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 - g.heli_phase_angle));
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heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 - g.heli_phase_angle));
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// pitch factors
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heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos - g.heli_phase_angle));
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heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos - g.heli_phase_angle));
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heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos - g.heli_phase_angle));
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// collective factors
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heli_collectiveFactor[CH_1] = 1;
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heli_collectiveFactor[CH_2] = 1;
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heli_collectiveFactor[CH_3] = 1;
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}else{ //H1 Swashplate, keep servo outputs seperated
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// roll factors
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heli_rollFactor[CH_1] = 1;
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heli_rollFactor[CH_2] = 0;
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heli_rollFactor[CH_3] = 0;
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// pitch factors
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heli_pitchFactor[CH_1] = 0;
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heli_pitchFactor[CH_2] = 1;
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heli_pitchFactor[CH_3] = 0;
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// collective factors
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heli_collectiveFactor[CH_1] = 0;
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heli_collectiveFactor[CH_2] = 0;
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heli_collectiveFactor[CH_3] = 1;
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}
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// set throttle scaling
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heli_collective_scalar = ((float)(g.rc_3.radio_max - g.rc_3.radio_min))/1000.0;
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// we must be in set-up mode so mark swash as uninitialised
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heli_swash_initialised = false;
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}
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// initialise the swash
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static void heli_init_swash()
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{
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int i;
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// swash servo initialisation
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g.heli_servo_1.set_range(0,1000);
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g.heli_servo_2.set_range(0,1000);
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g.heli_servo_3.set_range(0,1000);
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g.heli_servo_4.set_angle(4500);
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// ensure g.heli_coll values are reasonable
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if( g.heli_collective_min >= g.heli_collective_max ) {
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g.heli_collective_min = 1000;
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g.heli_collective_max = 2000;
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}
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g.heli_collective_mid = constrain(g.heli_collective_mid, g.heli_collective_min, g.heli_collective_max);
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// calculate throttle mid point
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heli_throttle_mid = ((float)(g.heli_collective_mid-g.heli_collective_min))/((float)(g.heli_collective_max-g.heli_collective_min))*1000.0;
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// determine scalar throttle input
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heli_collective_scalar = ((float)(g.heli_collective_max-g.heli_collective_min))/1000.0;
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if (!g.heli_h1_swash_enabled){ //CCPM Swashplate, perform control mixing
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// roll factors
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heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90 - g.heli_phase_angle));
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heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 - g.heli_phase_angle));
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heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 - g.heli_phase_angle));
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// pitch factors
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heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos - g.heli_phase_angle));
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heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos - g.heli_phase_angle));
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heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos - g.heli_phase_angle));
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// collective factors
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heli_collectiveFactor[CH_1] = 1;
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heli_collectiveFactor[CH_2] = 1;
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heli_collectiveFactor[CH_3] = 1;
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}else{ //H1 Swashplate, keep servo outputs seperated
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// roll factors
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heli_rollFactor[CH_1] = 1;
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heli_rollFactor[CH_2] = 0;
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heli_rollFactor[CH_3] = 0;
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// pitch factors
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heli_pitchFactor[CH_1] = 0;
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heli_pitchFactor[CH_2] = 1;
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heli_pitchFactor[CH_3] = 0;
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// collective factors
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heli_collectiveFactor[CH_1] = 0;
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heli_collectiveFactor[CH_2] = 0;
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heli_collectiveFactor[CH_3] = 1;
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}
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// servo min/max values
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g.heli_servo_1.radio_min = 1000;
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g.heli_servo_1.radio_max = 2000;
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g.heli_servo_2.radio_min = 1000;
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g.heli_servo_2.radio_max = 2000;
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g.heli_servo_3.radio_min = 1000;
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g.heli_servo_3.radio_max = 2000;
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// reset the servo averaging
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for( i=0; i<=3; i++ )
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heli_servo_out[i] = 0;
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// double check heli_servo_averaging is reasonable
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if( g.heli_servo_averaging < 0 || g.heli_servo_averaging > 5 ) {
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g.heli_servo_averaging = 0;
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g.heli_servo_averaging.save();
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}
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// mark swash as initialised
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heli_swash_initialised = true;
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}
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static void heli_move_servos_to_mid()
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{
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// call multiple times to force through the servo averaging
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for( int i=0; i<5; i++ ) {
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heli_move_swash(0,0,500,0);
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delay(20);
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}
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}
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//
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// heli_move_swash - moves swash plate to attitude of parameters passed in
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// - expected ranges:
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// roll : -4500 ~ 4500
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// pitch: -4500 ~ 4500
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// collective: 0 ~ 1000
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// yaw: -4500 ~ 4500
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//
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static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
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{
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int yaw_offset = 0;
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int coll_out_scaled;
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if( g.heli_servo_manual == 1 ) { // are we in manual servo mode? (i.e. swash set-up mode)?
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// check if we need to freeup the swash
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if( heli_swash_initialised ) {
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heli_reset_swash();
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}
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coll_out_scaled = coll_out * heli_collective_scalar + g.rc_3.radio_min - 1000;
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}else{ // regular flight mode
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// check if we need to reinitialise the swash
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if( !heli_swash_initialised ) {
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heli_init_swash();
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}
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// ensure values are acceptable:
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roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
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pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
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coll_out = constrain(coll_out, 0, 1000);
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coll_out_scaled = coll_out * heli_collective_scalar + g.heli_collective_min - 1000;
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// rescale roll_out and pitch-out into the min and max ranges to provide linear motion
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// across the input range instead of stopping when the input hits the constrain value
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// these calculations are based on an assumption of the user specified roll_max and pitch_max
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// coming into this equation at 4500 or less, and based on the original assumption of the
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// total g.heli_servo_x.servo_out range being -4500 to 4500.
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roll_out = (-g.heli_roll_max + (float)( 2 * g.heli_roll_max * (roll_out + 4500.0)/9000.0));
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pitch_out = (-g.heli_pitch_max + (float)(2 * g.heli_pitch_max * (pitch_out + 4500.0)/9000.0));
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// rudder feed forward based on collective
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#if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator
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if( !g.heli_ext_gyro_enabled ) {
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yaw_offset = g.heli_collective_yaw_effect * abs(coll_out_scaled - heli_throttle_mid);
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}
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#endif
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}
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// swashplate servos
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g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + heli_collectiveFactor[CH_1] * coll_out_scaled + (g.heli_servo_1.radio_trim-1500) + g.heli_h1_swash_enabled * 500;
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g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + heli_collectiveFactor[CH_2] * coll_out_scaled + (g.heli_servo_2.radio_trim-1500) + g.heli_h1_swash_enabled * 500;
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g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + heli_collectiveFactor[CH_3] * coll_out_scaled + (g.heli_servo_3.radio_trim-1500);
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g.heli_servo_4.servo_out = yaw_out + yaw_offset;
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// use servo_out to calculate pwm_out and radio_out
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g.heli_servo_1.calc_pwm();
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g.heli_servo_2.calc_pwm();
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g.heli_servo_3.calc_pwm();
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g.heli_servo_4.calc_pwm();
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// add the servo values to the averaging
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heli_servo_out[0] += g.heli_servo_1.radio_out;
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heli_servo_out[1] += g.heli_servo_2.radio_out;
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heli_servo_out[2] += g.heli_servo_3.radio_out;
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heli_servo_out[3] += g.heli_servo_4.radio_out;
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heli_servo_out_count++;
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// is it time to move the servos?
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if( heli_servo_out_count >= g.heli_servo_averaging ) {
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// average the values if necessary
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if( g.heli_servo_averaging >= 2 ) {
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heli_servo_out[0] /= g.heli_servo_averaging;
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heli_servo_out[1] /= g.heli_servo_averaging;
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heli_servo_out[2] /= g.heli_servo_averaging;
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heli_servo_out[3] /= g.heli_servo_averaging;
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}
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// actually move the servos
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APM_RC.OutputCh(CH_1, heli_servo_out[0]);
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APM_RC.OutputCh(CH_2, heli_servo_out[1]);
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APM_RC.OutputCh(CH_3, heli_servo_out[2]);
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APM_RC.OutputCh(CH_4, heli_servo_out[3]);
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// output gyro value
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if( g.heli_ext_gyro_enabled ) {
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APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain);
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}
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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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// reset the averaging
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heli_servo_out_count = 0;
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heli_servo_out[0] = 0;
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heli_servo_out[1] = 0;
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heli_servo_out[2] = 0;
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heli_servo_out[3] = 0;
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}
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}
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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(CH_1) | _BV(CH_2) | _BV(CH_3) | _BV(CH_4), g.rc_speed );
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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(CH_1);
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APM_RC.enable_out(CH_2);
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APM_RC.enable_out(CH_3);
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APM_RC.enable_out(CH_4);
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APM_RC.enable_out(CH_5);
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APM_RC.enable_out(CH_6);
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APM_RC.enable_out(CH_7);
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APM_RC.enable_out(CH_8);
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}
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// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better
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static void output_motors_armed()
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{
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// if manual override (i.e. when setting up swash), pass pilot commands straight through to swash
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if( g.heli_servo_manual == 1 ) {
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g.rc_1.servo_out = g.rc_1.control_in;
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g.rc_2.servo_out = g.rc_2.control_in;
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g.rc_3.servo_out = g.rc_3.control_in;
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g.rc_4.servo_out = g.rc_4.control_in;
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}
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//static int counter = 0;
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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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g.rc_4.calc_pwm();
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heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.servo_out, g.rc_4.servo_out );
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}
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// for helis - armed or disarmed we allow servos to move
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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, remove safety
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motor_auto_armed = true;
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}
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output_motors_armed();
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}
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static void output_motor_test()
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{
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}
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// heli_angle_boost - adds a boost depending on roll/pitch values
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// equivalent of quad's angle_boost function
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// throttle value should be 0 ~ 1000
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static int16_t heli_get_angle_boost(int throttle)
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{
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float angle_boost_factor = cos_pitch_x * cos_roll_x;
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angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
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int throttle_above_mid = max(throttle - heli_throttle_mid,0);
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return throttle + throttle_above_mid*angle_boost_factor;
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}
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#endif // HELI_FRAME
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