mirror of https://github.com/ArduPilot/ardupilot
183 lines
7.7 KiB
C++
183 lines
7.7 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#ifndef __AP_MOTORS_CLASS_H__
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#define __AP_MOTORS_CLASS_H__
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <RC_Channel.h> // RC Channel Library
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// offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays
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#define AP_MOTORS_MOT_1 0
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#define AP_MOTORS_MOT_2 1
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#define AP_MOTORS_MOT_3 2
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#define AP_MOTORS_MOT_4 3
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#define AP_MOTORS_MOT_5 4
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#define AP_MOTORS_MOT_6 5
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#define AP_MOTORS_MOT_7 6
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#define AP_MOTORS_MOT_8 7
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#define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_7,CH_8,CH_10,CH_11
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#define APM2_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7,CH_8
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#define AP_MOTORS_MAX_NUM_MOTORS 8
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#define AP_MOTORS_DEFAULT_MIN_THROTTLE 130
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#define AP_MOTORS_DEFAULT_MAX_THROTTLE 850
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// APM board definitions
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#define AP_MOTORS_APM1 1
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#define AP_MOTORS_APM2 2
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// frame definitions
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#define AP_MOTORS_PLUS_FRAME 0
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#define AP_MOTORS_X_FRAME 1
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#define AP_MOTORS_V_FRAME 2
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#define AP_MOTORS_TRAPEZOID_FRAME 3
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// motor update rate
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#define AP_MOTORS_SPEED_DEFAULT 490
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// top-bottom ratio (for Y6)
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#define AP_MOTORS_TOP_BOTTOM_RATIO 1.0
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#define THROTTLE_CURVE_ENABLED 1 // throttle curve disabled by default
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#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
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#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
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// bit mask for recording which limits we have reached when outputting to motors
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#define AP_MOTOR_NO_LIMITS_REACHED 0x00
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#define AP_MOTOR_ROLLPITCH_LIMIT 0x01
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#define AP_MOTOR_YAW_LIMIT 0x02
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#define AP_MOTOR_THROTTLE_LIMIT 0x04
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#define AP_MOTOR_ANY_LIMIT 0xFF
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/// @class AP_Motors
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class AP_Motors {
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public:
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// Constructor
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AP_Motors( 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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// init
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virtual void Init();
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// set mapping from motor number to RC channel
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virtual void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
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_motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
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_motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
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_motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
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_motor_to_channel_map[AP_MOTORS_MOT_4] = mot_4;
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_motor_to_channel_map[AP_MOTORS_MOT_5] = mot_5;
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_motor_to_channel_map[AP_MOTORS_MOT_6] = mot_6;
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_motor_to_channel_map[AP_MOTORS_MOT_7] = mot_7;
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_motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
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}
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// set update rate to motors - a value in hertz
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virtual void set_update_rate( uint16_t speed_hz ) {
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_speed_hz = speed_hz;
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};
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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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_frame_orientation = new_orientation;
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};
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// enable - starts allowing signals to be sent to motors
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virtual void enable() {
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};
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// arm, disarm or check status status of motors
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virtual bool armed() {
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return _armed;
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};
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virtual void armed(bool arm) {
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_armed = arm;
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};
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// check or set status of auto_armed - controls whether autopilot can take control of throttle
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// Note: this should probably be moved out of this class as it has little to do with the motors
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virtual bool auto_armed() {
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return _auto_armed;
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};
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virtual void auto_armed(bool arm) {
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_auto_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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virtual void set_min_throttle(uint16_t min_throttle) {
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_min_throttle = min_throttle;
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};
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virtual void set_max_throttle(uint16_t max_throttle) {
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_max_throttle = max_throttle;
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};
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// output - sends commands to the motors
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virtual void output() {
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if( _armed && _auto_armed ) { output_armed(); }else{ output_disarmed(); }
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};
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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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};
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// reached_limits - return whether we hit the limits of the motors
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virtual uint8_t reached_limit( uint8_t which_limit = AP_MOTOR_ANY_LIMIT ) {
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return _reached_limit & which_limit;
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}
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// get basic information about the platform
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virtual uint8_t get_num_motors() {
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return 0;
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};
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// motor test
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virtual void output_test() {
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};
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// throttle_pass_through - passes throttle through to motors - dangerous but required for initialising ESCs
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virtual void throttle_pass_through();
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// setup_throttle_curve - used to linearlise thrust output by motors
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// returns true if curve is created successfully
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virtual bool setup_throttle_curve();
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// 1 if motor is enabled, 0 otherwise
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AP_Int8 motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
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// final output values sent to the motors. public (for now) so that they can be access for logging
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int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];
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// power ratio of upper vs lower motors (only used by y6 and octa quad copters)
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AP_Float top_bottom_ratio;
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// output functions that should be overloaded by child classes
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virtual void output_armed() {
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};
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virtual void output_disarmed() {
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};
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RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users
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uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
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uint16_t _speed_hz; // speed in hz to send updates to motors
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bool _armed; // true if motors are armed
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bool _auto_armed; // true is throttle is above zero, allows auto pilot to take control of throttle
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uint8_t _frame_orientation; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2
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int16_t _min_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
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int16_t _max_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
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AP_CurveInt16_Size4 _throttle_curve; // curve used to linearize the pwm->thrust
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AP_Int8 _throttle_curve_enabled; // enable throttle curve
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AP_Int8 _throttle_curve_mid; // throttle which produces 1/2 the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
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AP_Int8 _throttle_curve_max; // throttle which produces the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
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uint8_t _reached_limit; // bit mask to record which motor limits we hit (if any) during most recent output. Used to provide feedback to attitude controllers
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};
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#endif // __AP_MOTORS_CLASS_H__
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