mirror of https://github.com/ArduPilot/ardupilot
297 lines
11 KiB
C++
297 lines
11 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_Motors.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_Motors_Class.h"
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#include <AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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// initialise motor map
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM1_MOTOR_TO_CHANNEL_MAP};
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#else
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const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM2_MOTOR_TO_CHANNEL_MAP};
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#endif
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// parameters for the motor class
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const AP_Param::GroupInfo AP_Motors::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_Motors, _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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// @Units: percent
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// @Range: 20 80
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// @Increment: 1
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AP_GROUPINFO("TCRV_MIDPCT", 2, AP_Motors, _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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// @Units: percent
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// @Range: 50 100
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// @Increment: 1
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AP_GROUPINFO("TCRV_MAXPCT", 3, AP_Motors, _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_Motors, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED),
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// @Param: YAW_HEADROOM
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// @DisplayName: Matrix Yaw Min
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// @Description: Yaw control is given at least this pwm range
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// @Range: 0 500
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// @Units: pwm
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// @User: Advanced
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AP_GROUPINFO("YAW_HEADROOM", 6, AP_Motors, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT),
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// @Param: THR_LOW_CMP
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// @DisplayName: Motor low throttle compensation
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// @Description: Ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control
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// @Values: 0.2:Favour Throttle Control, 0.5:Equal Weighting, 1:Favour Attitude Control
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// @User: Advanced
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AP_GROUPINFO("THR_LOW_CMP", 7, AP_Motors, _throttle_low_comp, AP_MOTORS_THR_LOW_CMP_DEFAULT),
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// @Param: THST_EXPO
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// @DisplayName: Thrust Curve Expo
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// @Description: Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)
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// @Range: 0.25 0.8
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// @User: Advanced
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AP_GROUPINFO("THST_EXPO", 8, AP_Motors, _thrust_curve_expo, AP_MOTORS_THST_EXPO_DEFAULT),
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// @Param: THST_MAX
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// @DisplayName: Thrust Curve Max
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// @Description: Point at which the thrust saturates
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// @Values: 0.9:Low, 1.0:High
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// @User: Advanced
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AP_GROUPINFO("THST_MAX", 9, AP_Motors, _thrust_curve_max, AP_MOTORS_THST_MAX_DEFAULT),
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// @Param: THST_BAT_MAX
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// @DisplayName: Battery voltage compensation maximum voltage
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// @Description: Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled
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// @Range: 6 35
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// @Units: Volts
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// @User: Advanced
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AP_GROUPINFO("THST_BAT_MAX", 10, AP_Motors, _batt_voltage_max, AP_MOTORS_THST_BAT_MAX_DEFAULT),
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// @Param: THST_BAT_MIN
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// @DisplayName: Battery voltage compensation minimum voltage
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// @Description: Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled
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// @Range: 6 35
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// @Units: Volts
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// @User: Advanced
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AP_GROUPINFO("THST_BAT_MIN", 11, AP_Motors, _batt_voltage_min, AP_MOTORS_THST_BAT_MIN_DEFAULT),
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// @Param: CURR_MAX
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// @DisplayName: Motor Current Max
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// @Description: Maximum current over which maximum throttle is limited (0 = Disabled)
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// @Range: 0 200
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// @Units: Amps
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// @User: Advanced
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AP_GROUPINFO("CURR_MAX", 12, AP_Motors, _batt_current_max, AP_MOTORS_CURR_MAX_DEFAULT),
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AP_GROUPEND
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};
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// Constructor
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AP_Motors::AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz) :
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_rc_roll(rc_roll),
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_rc_pitch(rc_pitch),
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_rc_throttle(rc_throttle),
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_rc_yaw(rc_yaw),
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_loop_rate(loop_rate),
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_speed_hz(speed_hz),
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_min_throttle(AP_MOTORS_DEFAULT_MIN_THROTTLE),
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_max_throttle(AP_MOTORS_DEFAULT_MAX_THROTTLE),
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_hover_out(AP_MOTORS_DEFAULT_MID_THROTTLE),
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_spin_when_armed_ramped(0),
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_batt_voltage(0.0f),
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_batt_voltage_resting(0.0f),
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_batt_voltage_filt(1.0f),
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_batt_current(0.0f),
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_batt_current_resting(0.0f),
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_batt_resistance(0.0f),
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_batt_timer(0),
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_lift_max(1.0f),
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_throttle_limit(1.0f)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// slow start motors from zero to min throttle
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_flags.slow_start_low_end = true;
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};
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// init
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void AP_Motors::Init()
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{
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// set-up throttle curve - motors classes will decide whether to use it based on _throttle_curve_enabled parameter
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setup_throttle_curve();
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};
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void AP_Motors::armed(bool arm)
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{
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_flags.armed = arm;
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if (!_flags.armed) {
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_flags.slow_start_low_end = true;
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}
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AP_Notify::flags.armed = arm;
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};
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// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
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void AP_Motors::set_min_throttle(uint16_t min_throttle)
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{
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_min_throttle = (float)min_throttle * (_rc_throttle.radio_max - _rc_throttle.radio_min) / 1000.0f;
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}
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// set_mid_throttle - sets the mid throttle which is close to the hover throttle of the copter
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// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control
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void AP_Motors::set_mid_throttle(uint16_t mid_throttle)
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{
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_hover_out = _rc_throttle.radio_min + (float)(_rc_throttle.radio_max - _rc_throttle.radio_min) * mid_throttle / 1000.0f;
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}
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// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs
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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_Motors::throttle_pass_through(int16_t pwm)
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{
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if (armed()) {
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// send the pilot's input directly to each enabled motor
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for (int16_t i=0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
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if (motor_enabled[i]) {
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[i]), pwm);
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}
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}
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}
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}
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// output - sends commands to the motors
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void AP_Motors::output()
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{
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// update max throttle
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update_max_throttle();
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// output to motors
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if (_flags.armed ) {
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output_armed();
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}else{
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output_disarmed();
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}
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};
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// setup_throttle_curve - used to linearise thrust output by motors
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// returns true if set up successfully
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bool AP_Motors::setup_throttle_curve()
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{
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int16_t min_pwm = _rc_throttle.radio_min;
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int16_t max_pwm = _rc_throttle.radio_max;
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int16_t mid_throttle_pwm = (max_pwm + min_pwm) / 2;
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int16_t mid_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_mid/100.0f);
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int16_t max_thrust_pwm = min_pwm + (float)(max_pwm - min_pwm) * ((float)_throttle_curve_max/100.0f);
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bool retval = true;
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// some basic checks that the curve is valid
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if( mid_thrust_pwm >= (min_pwm+_min_throttle) && mid_thrust_pwm <= max_pwm && max_thrust_pwm >= mid_thrust_pwm && max_thrust_pwm <= max_pwm ) {
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// clear curve
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_throttle_curve.clear();
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// curve initialisation
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retval &= _throttle_curve.add_point(min_pwm, min_pwm);
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retval &= _throttle_curve.add_point(min_pwm+_min_throttle, min_pwm+_min_throttle);
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retval &= _throttle_curve.add_point(mid_throttle_pwm, mid_thrust_pwm);
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retval &= _throttle_curve.add_point(max_pwm, max_thrust_pwm);
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// return success
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return retval;
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}else{
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retval = false;
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}
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// disable throttle curve if not set-up correctly
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if( !retval ) {
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_throttle_curve_enabled = false;
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hal.console->println_P(PSTR("AP_Motors: failed to create throttle curve"));
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}
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return retval;
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}
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// slow_start - set to true to slew motors from current speed to maximum
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// Note: this must be set immediately before a step up in throttle
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void AP_Motors::slow_start(bool true_false)
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{
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// set slow_start flag
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_flags.slow_start = true;
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// initialise maximum throttle to current throttle
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_max_throttle = constrain_int16(_rc_throttle.servo_out, 0, AP_MOTORS_DEFAULT_MAX_THROTTLE);
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}
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// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag
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void AP_Motors::update_max_throttle()
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{
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// ramp up minimum spin speed if necessary
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if (_flags.slow_start_low_end) {
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_spin_when_armed_ramped += AP_MOTOR_SLOW_START_LOW_END_INCREMENT;
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if (_spin_when_armed_ramped >= _spin_when_armed) {
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_spin_when_armed_ramped = _spin_when_armed;
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_flags.slow_start_low_end = false;
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}
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}
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// return max throttle if we're not slow_starting
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if (!_flags.slow_start) {
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return;
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}
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// increase slow start throttle
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_max_throttle += AP_MOTOR_SLOW_START_INCREMENT;
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// turn off slow start if we've reached max throttle
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if (_max_throttle >= _rc_throttle.servo_out) {
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_max_throttle = AP_MOTORS_DEFAULT_MAX_THROTTLE;
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_flags.slow_start = false;
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}
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}
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// apply_thrust_curve_and_volt_scaling - returns throttle curve adjusted pwm value (i.e. 1000 ~ 2000)
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int16_t AP_Motors::apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const
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{
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float temp_out = ((float)(pwm_out-pwm_min))/((float)(pwm_max-pwm_min));
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if (_thrust_curve_expo > 0.0f){
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temp_out = ((_thrust_curve_expo-1.0f) + safe_sqrt((1.0f-_thrust_curve_expo)*(1.0f-_thrust_curve_expo) + 4.0f*_thrust_curve_expo*_lift_max*temp_out))/(2.0f*_thrust_curve_expo*_batt_voltage_filt);
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}
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return (temp_out*(_thrust_curve_max*pwm_max-pwm_min)+pwm_min);
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}
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