mirror of https://github.com/ArduPilot/ardupilot
110 lines
4.0 KiB
C++
110 lines
4.0 KiB
C++
/// @file AP_MotorsHeli_Quad.h
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/// @brief Motor control class collective pitch quad helicopter (such as stingray)
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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>
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#include <RC_Channel/RC_Channel.h>
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#include "AP_MotorsHeli.h"
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#include "AP_MotorsHeli_RSC.h"
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// rsc function output channel
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#define AP_MOTORS_HELI_QUAD_RSC CH_8
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// default collective min, max and midpoints for the rear swashplate
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#define AP_MOTORS_HELI_QUAD_COLLECTIVE_MIN 1100
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#define AP_MOTORS_HELI_QUAD_COLLECTIVE_MAX 1900
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#define AP_MOTORS_HELI_QUAD_NUM_MOTORS 4
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class AP_MotorsHeli_Quad : public AP_MotorsHeli {
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public:
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// constructor
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AP_MotorsHeli_Quad(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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_rotor(SRV_Channel::k_heli_rsc, AP_MOTORS_HELI_QUAD_RSC)
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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 - set update rate to motors
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void set_update_rate( uint16_t speed_hz ) override;
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// output_test_seq - spin a motor at the pwm value specified
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virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) 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_rpm - for rotor speed governor
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void set_rpm(float rotor_rpm) override;
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// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
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void set_desired_rotor_speed(float desired_speed) override;
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// get_estimated_rotor_speed - gets estimated rotor speed as a number from 0 ~ 1000
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float get_main_rotor_speed() const override { return _rotor.get_rotor_speed(); }
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// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
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float get_desired_rotor_speed() const override { return _rotor.get_rotor_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 _rotor.get_rotor_speed() > _rotor.get_critical_speed(); }
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// get_governor_output
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float get_governor_output() const override { return _rotor.get_governor_output(); }
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// get_control_output
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float get_control_output() const override { return _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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uint16_t get_motor_mask() override;
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// has_flybar - returns true if we have a mechanical flybar
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bool has_flybar() const override { return AP_MOTORS_HELI_NOFLYBAR; }
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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 false; }
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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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// 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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// init_outputs
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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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// calculate_roll_pitch_collective_factors - setup rate factors
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void calculate_roll_pitch_collective_factors ();
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// move_actuators - moves swash plate to attitude of parameters passed in
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void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;
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// objects we depend upon
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AP_MotorsHeli_RSC _rotor; // main rotor controller
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// rate factors
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float _rollFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
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float _pitchFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
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float _collectiveFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
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float _yawFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
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float _out[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
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};
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