ardupilot/libraries/AP_Motors/AP_MotorsMatrix.h

174 lines
7.9 KiB
C++

/// @file AP_MotorsMatrix.h
/// @brief Motor control class for Matrixcopters
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include "AP_MotorsMulticopter.h"
#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1
#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
/// @class AP_MotorsMatrix
class AP_MotorsMatrix : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsMatrix(uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMulticopter(speed_hz)
{
if (_singleton != nullptr) {
AP_HAL::panic("AP_MotorsMatrix must be singleton");
}
_singleton = this;
};
// get singleton instance
static AP_MotorsMatrix *get_singleton() {
return _singleton;
}
// init
virtual void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
#if AP_SCRIPTING_ENABLED
// Init to be called from scripting
virtual bool init(uint8_t expected_num_motors);
// Set throttle factor from scripting
bool set_throttle_factor(int8_t motor_num, float throttle_factor);
#endif // AP_SCRIPTING_ENABLED
// 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
// you must have setup_motors before calling this
void set_update_rate(uint16_t speed_hz) override;
// output_test_num - spin a motor connected to the specified output channel
// (should only be performed during testing)
// If a motor output channel is remapped, the mapped channel is used.
// Returns true if motor output is set, false otherwise
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
bool output_test_num(uint8_t motor, int16_t pwm);
// 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 (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint32_t get_motor_mask() override;
// return number of motor that has failed. Should only be called if get_thrust_boost() returns true
uint8_t get_lost_motor() const override { return _motor_lost_index; }
// return the roll factor of any motor, this is used for tilt rotors and tail sitters
// using copter motors for forward flight
float get_roll_factor(uint8_t i) override { return _roll_factor[i]; }
// return the pitch factor of any motor
float get_pitch_factor(uint8_t i) override { return _pitch_factor[i]; }
// disable the use of motor torque to control yaw. Used when an external mechanism such
// as vectoring is used for yaw control
void disable_yaw_torque(void) override;
// add_motor using raw roll, pitch, throttle and yaw factors
void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order, float throttle_factor = 1.0f);
// same structure, but with floats.
struct MotorDef {
float angle_degrees;
float yaw_factor;
uint8_t testing_order;
};
// method to add many motors specified in a structure:
void add_motors(const struct MotorDef *motors, uint8_t num_motors);
// structure used for initialising motors that add have separate
// roll/pitch/yaw factors. Note that this does *not* include
// the final parameter for the add_motor_raw call - throttle
// factor as that is only used in the scripting binding, not in
// the static motors at the moment.
struct MotorDefRaw {
float roll_fac;
float pitch_fac;
float yaw_fac;
uint8_t testing_order;
};
void add_motors_raw(const struct MotorDefRaw *motors, uint8_t num_motors);
// pull values direct, (examples only)
float get_thrust_rpyt_out(uint8_t i) const;
bool get_factors(uint8_t i, float &roll, float &pitch, float &yaw, float &throttle, uint8_t &testing_order) const;
protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
// check for failed motor
void check_for_failed_motor(float throttle_thrust_best);
// add_motor using just position and yaw_factor (or prop direction)
void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
// add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
void add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
// remove_motor
void remove_motor(int8_t motor_num);
// configures the motors for the defined frame_class and frame_type
virtual void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type);
// normalizes the roll, pitch and yaw factors so maximum magnitude is 0.5
void normalise_rpy_factors();
// call vehicle supplied thrust compensation if set
void thrust_compensation(void) override;
const char* _get_frame_string() const override { return _frame_class_string; }
const char* get_type_string() const override { return _frame_type_string; }
// 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;
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
float _throttle_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to throttle 0~1
float _thrust_rpyt_out[AP_MOTORS_MAX_NUM_MOTORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
uint8_t _test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
// motor failure handling
float _thrust_rpyt_out_filt[AP_MOTORS_MAX_NUM_MOTORS]; // filtered thrust outputs with 1 second time constant
uint8_t _motor_lost_index; // index number of the lost motor
motor_frame_class _active_frame_class; // active frame class (i.e. quad, hexa, octa, etc)
motor_frame_type _active_frame_type; // active frame type (i.e. plus, x, v, etc)
const char* _frame_class_string = ""; // string representation of frame class
const char* _frame_type_string = ""; // string representation of frame type
private:
// helper to return value scaled between boost and normal based on the value of _thrust_boost_ratio
float boost_ratio(float boost_value, float normal_value) const;
// setup motors matrix
bool setup_quad_matrix(motor_frame_type frame_type);
bool setup_hexa_matrix(motor_frame_type frame_type);
bool setup_octa_matrix(motor_frame_type frame_type);
bool setup_deca_matrix(motor_frame_type frame_type);
bool setup_dodecahexa_matrix(motor_frame_type frame_type);
bool setup_y6_matrix(motor_frame_type frame_type);
bool setup_octaquad_matrix(motor_frame_type frame_type);
static AP_MotorsMatrix *_singleton;
};