mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.5 KiB
C++
60 lines
2.5 KiB
C++
/// @file AP_MotorsSingle.h
|
|
/// @brief Motor and Servo control class for Singlecopters
|
|
#pragma once
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <SRV_Channel/SRV_Channel.h>
|
|
#include "AP_MotorsMulticopter.h"
|
|
|
|
// feedback direction
|
|
#define AP_MOTORS_SING_POSITIVE 1
|
|
#define AP_MOTORS_SING_NEGATIVE -1
|
|
|
|
#define NUM_ACTUATORS 4
|
|
|
|
#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
|
|
#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
|
|
|
|
#define AP_MOTORS_SINGLE_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
|
|
|
|
/// @class AP_MotorsSingle
|
|
class AP_MotorsSingle : public AP_MotorsMulticopter {
|
|
public:
|
|
|
|
/// Constructor
|
|
AP_MotorsSingle(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
|
|
AP_MotorsMulticopter(loop_rate, speed_hz)
|
|
{
|
|
};
|
|
|
|
// init
|
|
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
|
|
|
|
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
|
|
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
|
|
|
|
// set update rate to motors - a value in hertz
|
|
void set_update_rate( uint16_t speed_hz ) override;
|
|
|
|
// output_test_seq - spin a motor at the pwm value specified
|
|
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
|
|
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
|
|
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
|
|
|
|
// output_to_motors - sends minimum values out to the motors
|
|
virtual void output_to_motors() override;
|
|
|
|
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
|
|
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
|
|
uint16_t get_motor_mask() override;
|
|
|
|
protected:
|
|
// output - sends commands to the motors
|
|
void output_armed_stabilizing() override;
|
|
|
|
int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
|
|
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
|
|
float _thrust_out;
|
|
};
|