mirror of https://github.com/ArduPilot/ardupilot
121 lines
5.1 KiB
C++
121 lines
5.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_MOTORS_HELI_RSC_H__
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#define __AP_MOTORS_HELI_RSC_H__
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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 <RC_Channel/RC_Channel.h> // RC Channel Library
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// rotor controller states
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enum RotorControlState {
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ROTOR_CONTROL_STOP = 0,
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ROTOR_CONTROL_IDLE,
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ROTOR_CONTROL_ACTIVE
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};
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// rotor control modes
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enum RotorControlMode {
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ROTOR_CONTROL_MODE_DISABLED = 0,
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ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH,
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ROTOR_CONTROL_MODE_SPEED_SETPOINT,
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ROTOR_CONTROL_MODE_OPEN_LOOP_POWER_OUTPUT,
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ROTOR_CONTROL_MODE_CLOSED_LOOP_POWER_OUTPUT
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};
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class AP_MotorsHeli_RSC {
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public:
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AP_MotorsHeli_RSC(RC_Channel& servo_output,
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int8_t servo_output_channel,
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uint16_t loop_rate) :
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_servo_output(servo_output),
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_servo_output_channel(servo_output_channel),
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_loop_rate(loop_rate)
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{};
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// init_servo - servo initialization on start-up
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void init_servo();
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// set_control_mode - sets control mode
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void set_control_mode(RotorControlMode mode) { _control_mode = mode; }
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// set_critical_speed
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void set_critical_speed(int16_t critical_speed) { _critical_speed = critical_speed; }
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// get_critical_speed
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int16_t get_critical_speed() const { return _critical_speed; }
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// set_idle_output
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void set_idle_output(int16_t idle_output) { _idle_output = idle_output; }
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// get_desired_speed
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int16_t get_desired_speed() const { return _desired_speed; }
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// set_desired_speed
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void set_desired_speed(int16_t desired_speed) { _desired_speed = desired_speed; }
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// get_control_speed
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int16_t get_control_output() const { return _control_output; }
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// get_rotor_speed - return estimated or measured rotor speed
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int16_t get_rotor_speed() const;
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// is_runup_complete
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bool is_runup_complete() const { return _runup_complete; }
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// set_ramp_time
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void set_ramp_time(int8_t ramp_time) { _ramp_time = ramp_time; }
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// set_runup_time
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void set_runup_time(int8_t runup_time) { _runup_time = runup_time; }
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// set_power_output_range
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void set_power_output_range(uint16_t power_low, uint16_t power_high);
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// set_motor_load
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void set_motor_load(float load) { _load_feedforward = load; }
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// recalc_scalers
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void recalc_scalers();
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// output - update value to send to ESC/Servo
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void output(RotorControlState state);
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private:
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// external variables
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RC_Channel& _servo_output;
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int8_t _servo_output_channel; // output channel to rotor esc
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float _loop_rate; // main loop rate
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// internal variables
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RotorControlMode _control_mode = ROTOR_CONTROL_MODE_DISABLED; // motor control mode, Passthrough or Setpoint
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int16_t _critical_speed = 0; // rotor speed below which flight is not possible
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int16_t _idle_output = 0; // motor output idle speed
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int16_t _max_speed = 1000; // rotor maximum speed. Placeholder value until we have measured speed input (ToDo)
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int16_t _desired_speed = 0; // latest desired rotor speed from pilot
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int16_t _control_output = 0; // latest logic controlled output
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float _rotor_ramp_output = 0; // scalar used to ramp rotor speed between _rsc_idle_output and full speed (0.0-1.0f)
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float _rotor_runup_output = 0; // scalar used to store status of rotor run-up time (0.0-1.0f)
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float _ramp_increment = 0; // the amount to increase/decrease the rotor ramp scalar during each iteration
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int8_t _ramp_time = 0; // time in seconds for the output to the main rotor's ESC to reach full speed
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int8_t _runup_time = 0; // time in seconds for the main rotor to reach full speed. Must be longer than _rsc_ramp_time
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float _runup_increment = 0; // the amount to increase/decrease the rotor run-up scalar during each iteration
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bool _runup_complete = false; // flag for determining if runup is complete
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uint16_t _power_output_low = 0; // setpoint for power output at minimum rotor power
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uint16_t _power_output_high = 0; // setpoint for power output at maximum rotor power
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uint16_t _power_output_range = 0; // maximum range of output power
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float _load_feedforward = 0; // estimate of motor load, range 0-1.0f
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// update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
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void update_rotor_ramp(float rotor_ramp_input);
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// update_rotor_runup - function to slew rotor runup scalar, outputs float scalar to _rotor_runup_ouptut
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void update_rotor_runup();
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// write_rsc - outputs pwm onto output rsc channel. servo_out parameter is of the range 0 ~ 1000
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void write_rsc(int16_t servo_out);
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};
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#endif // AP_MOTORS_HELI_RSC_H
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