mirror of https://github.com/ArduPilot/ardupilot
254 lines
9.6 KiB
C++
254 lines
9.6 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_MotorsSingle.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_HAL.h>
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#include <AP_Math.h>
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#include "AP_MotorsCoax.h"
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_MotorsCoax::var_info[] PROGMEM = {
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// 0 was used by TB_RATIO
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// @Param: TCRV_ENABLE
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// @DisplayName: Thrust Curve Enable
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// @Description: Controls whether a curve is used to linearize the thrust produced by the motors
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// @User: Advanced
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// @Values: 0:Disabled,1:Enable
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AP_GROUPINFO("TCRV_ENABLE", 1, AP_MotorsCoax, _throttle_curve_enabled, THROTTLE_CURVE_ENABLED),
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// @Param: TCRV_MIDPCT
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// @DisplayName: Thrust Curve mid-point percentage
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// @Description: Set the pwm position that produces half the maximum thrust of the motors
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// @User: Advanced
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// @Range: 20 80
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// @Increment: 1
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AP_GROUPINFO("TCRV_MIDPCT", 2, AP_MotorsCoax, _throttle_curve_mid, THROTTLE_CURVE_MID_THRUST),
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// @Param: TCRV_MAXPCT
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// @DisplayName: Thrust Curve max thrust percentage
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// @Description: Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept.
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// @User: Advanced
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// @Range: 20 80
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// @Increment: 1
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AP_GROUPINFO("TCRV_MAXPCT", 3, AP_MotorsCoax, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST),
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// @Param: SPIN_ARMED
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// @DisplayName: Motors always spin when armed
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// @Description: Controls whether motors always spin when armed (must be below THR_MIN)
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// @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast
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// @User: Standard
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AP_GROUPINFO("SPIN_ARMED", 5, AP_MotorsCoax, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
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// @Param: REV_ROLL
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// @DisplayName: Reverse roll feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Opposite direction,1:Same direction
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AP_GROUPINFO("REV_ROLL", 6, AP_MotorsCoax, _rev_roll, AP_MOTORS_COAX_POSITIVE),
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// @Param: REV_PITCH
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// @DisplayName: Reverse roll feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Opposite direction,1:Same direction
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AP_GROUPINFO("REV_PITCH", 7, AP_MotorsCoax, _rev_pitch, AP_MOTORS_COAX_POSITIVE),
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// @Param: REV_ROLL
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// @DisplayName: Reverse roll feedback
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// @Description: Ensure the feedback is negative
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// @Values: -1:Opposite direction,1:Same direction
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AP_GROUPINFO("REV_YAW", 8, AP_MotorsCoax, _rev_yaw, AP_MOTORS_COAX_POSITIVE),
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// @Param: SV_SPEED
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// @DisplayName: Servo speed
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// @Description: Servo update speed
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// @Values: -1:Opposite direction,1:Same direction
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AP_GROUPINFO("SV_SPEED", 9, AP_MotorsCoax, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS),
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AP_GROUPEND
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};
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// init
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void AP_MotorsCoax::Init()
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{
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// call parent Init function to set-up throttle curve
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AP_Motors::Init();
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// set update rate for the 2 motors (but not the servo on channel 1&2)
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set_update_rate(_speed_hz);
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// set the motor_enabled flag so that the ESCs can be calibrated like other frame types
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motor_enabled[AP_MOTORS_MOT_3] = true;
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motor_enabled[AP_MOTORS_MOT_4] = true;
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// set ranges for fin servos
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_servo1.set_type(RC_CHANNEL_TYPE_ANGLE);
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_servo2.set_type(RC_CHANNEL_TYPE_ANGLE);
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_servo1.set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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_servo2.set_angle(AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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}
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// set update rate to motors - a value in hertz
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void AP_MotorsCoax::set_update_rate( uint16_t speed_hz )
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{
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// record requested speed
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_speed_hz = speed_hz;
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// set update rate for the two motors
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uint32_t mask2 =
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]) |
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]) ;
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hal.rcout->set_freq(mask2, _speed_hz);
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// set update rate for the two servos
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uint32_t mask =
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) |
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) ;
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hal.rcout->set_freq(mask, _servo_speed);
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}
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// enable - starts allowing signals to be sent to motors
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void AP_MotorsCoax::enable()
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{
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// enable output channels
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]));
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}
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// output_min - sends minimum values out to the motor and trim values to the servos
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void AP_MotorsCoax::output_min()
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{
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// send minimum value to each motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _rc_throttle.radio_min);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min);
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}
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// output_armed - sends commands to the motors
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void AP_MotorsCoax::output_armed()
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{
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int16_t out_min = _rc_throttle.radio_min + _min_throttle;
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int16_t motor_out[4];
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// Throttle is 0 to 1000 only
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if (_rc_throttle.servo_out <= 0) {
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_rc_throttle.servo_out = 0;
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limit.throttle_lower = true;
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}
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if (_rc_throttle.servo_out >= _max_throttle) {
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_rc_throttle.servo_out = _max_throttle;
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limit.throttle_upper = true;
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}
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// capture desired throttle and yaw from receiver
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_rc_throttle.calc_pwm();
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_rc_yaw.calc_pwm();
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// if we are not sending a throttle output, we cut the motors
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if(_rc_throttle.servo_out == 0) {
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// range check spin_when_armed
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if (_spin_when_armed < 0) {
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_spin_when_armed = 0;
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}
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if (_spin_when_armed > _min_throttle) {
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_spin_when_armed = _min_throttle;
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}
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motor_out[AP_MOTORS_MOT_3] = _rc_throttle.radio_min + _spin_when_armed;
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle.radio_min + _spin_when_armed;
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}else{
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// check if throttle is below limit
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if (_rc_throttle.servo_out <= _min_throttle) { // perhaps being at min throttle itself is not a problem, only being under is
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limit.throttle_lower = true;
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}
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// motors
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motor_out[AP_MOTORS_MOT_3] = _rev_yaw*_rc_yaw.pwm_out + _rc_throttle.radio_out;
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motor_out[AP_MOTORS_MOT_4] = -_rev_yaw*_rc_yaw.pwm_out +_rc_throttle.radio_out;
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// front
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_servo1.servo_out = _rev_roll*_rc_roll.servo_out;
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// right
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_servo2.servo_out = _rev_pitch*_rc_pitch.servo_out;
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_servo1.calc_pwm();
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_servo2.calc_pwm();
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// adjust for throttle curve
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if( _throttle_curve_enabled ) {
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motor_out[AP_MOTORS_MOT_3] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_3]);
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motor_out[AP_MOTORS_MOT_4] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_4]);
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}
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// ensure motors don't drop below a minimum value and stop
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motor_out[AP_MOTORS_MOT_3] = max(motor_out[AP_MOTORS_MOT_3], out_min);
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motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
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}
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// send output to each motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_out);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), motor_out[AP_MOTORS_MOT_3]);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]);
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}
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// output_disarmed - sends commands to the motors
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void AP_MotorsCoax::output_disarmed()
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{
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// Send minimum values to all motors
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output_min();
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}
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// output_test - 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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void AP_MotorsCoax::output_test(uint8_t motor_seq, int16_t pwm)
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{
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// exit immediately if not armed
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if (!_flags.armed) {
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return;
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}
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// output to motors and servos
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switch (motor_seq) {
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case 1:
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// flap servo 1
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm);
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break;
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case 2:
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// flap servo 2
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm);
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break;
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case 3:
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// motor 1
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), pwm);
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break;
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case 4:
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// motor 2
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
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break;
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default:
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// do nothing
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break;
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}
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}
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