mirror of https://github.com/ArduPilot/ardupilot
93 lines
4.2 KiB
C++
93 lines
4.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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/*
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* AP_MotorsQuad.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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*/
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#include "AP_MotorsQuad.h"
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// setup_motors - configures the motors for a quad
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void AP_MotorsQuad::setup_motors()
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{
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// call parent
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AP_MotorsMatrix::setup_motors();
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// hard coded config for supported frames
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if( _flags.frame_orientation == AP_MOTORS_PLUS_FRAME ) {
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// plus frame set-up
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add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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}else if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) {
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// V frame set-up
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add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
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add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
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add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4);
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add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
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}else if( _flags.frame_orientation == AP_MOTORS_H_FRAME ) {
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// H frame set-up - same as X but motors spin in opposite directiSons
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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} else if (_flags.frame_orientation == AP_MOTORS_VTAIL_FRAME) {
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/* Lynxmotion Hunter Vtail 400/500
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Roll control comes only from the front motors, Yaw control only from the rear motors
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roll factor is measured by the angle perpendicular to that of the prop arm to the roll axis (x)
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pitch factor is measured by the angle perpendicular to the prop arm to the pitch axis (y)
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assumptions:
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20 20
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\ / 3_____________1
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\ / |
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\ / |
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40 \/ 40 20 | 20
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Tail / \
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2 4
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All angles measured from their closest axis
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Note: if we want the front motors to help with yaw,
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motors 1's yaw factor should be changed to sin(radians(40)). Where "40" is the vtail angle
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motors 3's yaw factor should be changed to -sin(radians(40))
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*/
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// front right: 70 degrees right of roll axis, 20 degrees up of pitch axis, no yaw
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add_motor_raw(AP_MOTORS_MOT_1, cosf(radians(160)), cosf(radians(-70)), 0, 1);
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// back left: no roll, 70 degrees down of pitch axis, full yaw
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add_motor_raw(AP_MOTORS_MOT_2, 0, cosf(radians(160)), AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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// front left: 70 degrees left of roll axis, 20 degrees up of pitch axis, no yaw
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add_motor_raw(AP_MOTORS_MOT_3, cosf(radians(20)), cosf(radians(70)), 0, 4);
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// back right: no roll, 70 degrees down of pitch axis, full yaw
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add_motor_raw(AP_MOTORS_MOT_4, 0, cosf(radians(-160)), AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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}else{
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// X frame set-up
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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}
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}
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