mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.6 KiB
C++
68 lines
2.6 KiB
C++
/// @file AP_MotorsTri.h
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/// @brief Motor control class for Tricopters
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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_MotorsMulticopter.h"
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// tail servo uses channel 7
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#define AP_MOTORS_CH_TRI_YAW CH_7
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#define AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN 5 // minimum angle movement of tail servo in degrees
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#define AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX 80 // maximum angle movement of tail servo in degrees
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/// @class AP_MotorsTri
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class AP_MotorsTri : public AP_MotorsMulticopter {
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public:
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/// Constructor
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AP_MotorsTri(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
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{
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};
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// init
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void init(motor_frame_class frame_class, motor_frame_type frame_type);
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// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
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void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type);
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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 );
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// enable - starts allowing signals to be sent to motors
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virtual void enable();
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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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virtual void output_test(uint8_t motor_seq, int16_t pwm);
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// output_to_motors - sends minimum values out to the motors
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virtual void output_to_motors();
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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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virtual uint16_t get_motor_mask();
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing();
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// call vehicle supplied thrust compensation if set
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void thrust_compensation(void) override;
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// calc_yaw_radio_output - calculate final radio output for yaw channel
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int16_t calc_yaw_radio_output(float yaw_input, float yaw_input_max); // calculate radio output for yaw servo, typically in range of 1100-1900
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// parameters
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SRV_Channel *_yaw_servo; // yaw output channel
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float _pivot_angle; // Angle of yaw pivot
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float _thrust_right;
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float _thrust_rear;
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float _thrust_left;
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};
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