mirror of https://github.com/ArduPilot/ardupilot
150 lines
7.1 KiB
C++
150 lines
7.1 KiB
C++
/// @file AP_MotorsHeli_Single.h
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/// @brief Motor control class for traditional heli
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <SRV_Channel/SRV_Channel.h>
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#include "AP_MotorsHeli.h"
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#include "AP_MotorsHeli_RSC.h"
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#include "AP_MotorsHeli_Swash.h"
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// rsc and extgyro function output channels.
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#define AP_MOTORS_HELI_SINGLE_EXTGYRO CH_7
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#define AP_MOTORS_HELI_SINGLE_TAILRSC CH_7
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// tail types
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO 0
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO 1
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH 2
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW 3
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW 4
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV 5
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// direct-drive variable pitch defaults
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#define AP_MOTORS_HELI_SINGLE_DDVP_SPEED_DEFAULT 50
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// default external gyro gain
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#define AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN 350
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// COLYAW parameter min and max values
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#define AP_MOTORS_HELI_SINGLE_COLYAW_RANGE 10.0f
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// maximum number of swashplate servos
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#define AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS 3
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/// @class AP_MotorsHeli_Single
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class AP_MotorsHeli_Single : public AP_MotorsHeli {
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public:
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// constructor
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AP_MotorsHeli_Single(uint16_t loop_rate,
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uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
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AP_MotorsHeli(loop_rate, speed_hz),
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_tail_rotor(SRV_Channel::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_TAILRSC),
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_swashplate()
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{
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AP_Param::setup_object_defaults(this, var_info);
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};
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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) override;
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// output_to_motors - sends values out to the motors
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void output_to_motors() override;
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// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1
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void set_desired_rotor_speed(float desired_speed) override;
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// get_main_rotor_speed - estimated rotor speed when no speed sensor or governor is used
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float get_main_rotor_speed() const override { return _main_rotor.get_rotor_speed(); }
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// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1
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float get_desired_rotor_speed() const override { return _main_rotor.get_desired_speed(); }
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// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
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bool rotor_speed_above_critical() const override { return _main_rotor.get_rotor_speed() > _main_rotor.get_critical_speed(); }
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// get_governor_output
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float get_governor_output() const override { return _main_rotor.get_governor_output(); }
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// get_control_output
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float get_control_output() const override{ return _main_rotor.get_control_output(); }
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// calculate_scalars - recalculates various scalars used
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void calculate_scalars() override;
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// calculate_armed_scalars - recalculates scalars that can change while armed
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void calculate_armed_scalars() override;
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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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uint32_t get_motor_mask() override;
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// ext_gyro_gain - set external gyro gain in range 0 ~ 1000
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void ext_gyro_gain(float gain) override { if (gain >= 0 && gain <= 1000) { _ext_gyro_gain_std = gain; }}
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// has_flybar - returns true if we have a mechical flybar
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bool has_flybar() const override { return _flybar_mode; }
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// supports_yaw_passthrought - returns true if we support yaw passthrough
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bool supports_yaw_passthrough() const override { return _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO; }
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void set_acro_tail(bool set) override { _acro_tail = set; }
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// parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
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bool parameter_check(bool display_msg) const override;
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// var_info
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// init_outputs - initialise Servo/PWM ranges and endpoints
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bool init_outputs() override;
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// update_motor_controls - sends commands to motor controllers
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void update_motor_control(RotorControlState state) override;
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// heli_move_actuators - moves swash plate and tail rotor
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void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;
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// move_yaw - moves the yaw servo
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void move_yaw(float yaw_out);
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// servo_test - move servos through full range of movement
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void servo_test() override;
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// output_test_seq - 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_seq(uint8_t motor_seq, int16_t pwm) override;
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// external objects we depend upon
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AP_MotorsHeli_RSC _tail_rotor; // tail rotor
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AP_MotorsHeli_Swash _swashplate; // swashplate
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// internal variables
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float _oscillate_angle = 0.0f; // cyclic oscillation angle, used by servo_test function
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float _servo_test_cycle_time = 0.0f; // cycle time tracker, used by servo_test function
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float _collective_test = 0.0f; // over-ride for collective output, used by servo_test function
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float _roll_test = 0.0f; // over-ride for roll output, used by servo_test function
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float _pitch_test = 0.0f; // over-ride for pitch output, used by servo_test function
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float _yaw_test = 0.0f; // over-ride for yaw output, used by servo_test function
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float _servo1_out = 0.0f; // output value sent to motor
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float _servo2_out = 0.0f; // output value sent to motor
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float _servo3_out = 0.0f; // output value sent to motor
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float _servo4_out = 0.0f; // output value sent to motor
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float _servo5_out = 0.0f; // output value sent to motor
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// parameters
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AP_Int16 _tail_type; // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
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AP_Int16 _ext_gyro_gain_std; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
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AP_Int16 _ext_gyro_gain_acro; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro in ACRO
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AP_Float _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
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AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
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AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
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bool _acro_tail = false;
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};
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