mirror of https://github.com/ArduPilot/ardupilot
83 lines
3.4 KiB
C++
83 lines
3.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsMatrix.h
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/// @brief Motor control class for Matrixcopters
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#ifndef __AP_MOTORS_MATRIX_H__
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#define __AP_MOTORS_MATRIX_H__
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#include <AP_Common.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel.h> // RC Channel Library
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#include "AP_Motors_Class.h"
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#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1
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#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
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/// @class AP_MotorsMatrix
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class AP_MotorsMatrix : public AP_Motors {
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public:
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/// Constructor
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AP_MotorsMatrix( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz)
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{};
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// init
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virtual void Init();
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// set update rate to motors - a value in hertz
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// you must have setup_motors before calling this
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virtual void set_update_rate( uint16_t speed_hz );
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// set frame orientation (normally + or X)
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virtual void set_frame_orientation( uint8_t new_orientation );
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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_min - sends minimum values out to the motors
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virtual void output_min();
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// add_motor using just position and yaw_factor (or prop direction)
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void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
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// add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
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void add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
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// remove_motor
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void remove_motor(int8_t motor_num);
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// remove_all_motors - removes all motor definitions
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void remove_all_motors();
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// setup_motors - configures the motors for a given frame type - should be overwritten by child classes
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virtual void setup_motors() {
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remove_all_motors();
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};
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// get_motor_mask - returns a bitmask of which outputs are being used for motors (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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virtual void output_armed();
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virtual void output_disarmed();
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// add_motor using raw roll, pitch, throttle and yaw factors
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void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
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float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
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float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
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float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
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uint8_t _test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
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};
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#endif // AP_MOTORSMATRIX
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