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https://github.com/ArduPilot/ardupilot
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242 lines
12 KiB
C++
242 lines
12 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsHeli.h
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/// @brief Motor control class for Traditional Heli
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#ifndef __AP_MOTORS_HELI_H__
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#define __AP_MOTORS_HELI_H__
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#include <inttypes.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.h"
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// output channels
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#define AP_MOTORS_HELI_EXT_GYRO CH_7 // tail servo uses channel 7
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#define AP_MOTORS_HELI_EXT_RSC CH_8 // main rotor controlled with channel 8
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// maximum number of swashplate servos
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#define AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS 3
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// servo output rates
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#define AP_MOTORS_HELI_SPEED_DEFAULT 125 // default servo update rate for helicopters
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#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
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#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
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// servo position defaults
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#define AP_MOTORS_HELI_SERVO1_POS -60
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#define AP_MOTORS_HELI_SERVO2_POS 60
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#define AP_MOTORS_HELI_SERVO3_POS 180
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// swash type definitions
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#define AP_MOTORS_HELI_SWASH_CCPM 0
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#define AP_MOTORS_HELI_SWASH_H1 1
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// default swash min and max angles and positions
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#define AP_MOTORS_HELI_SWASH_ROLL_MAX 4500
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#define AP_MOTORS_HELI_SWASH_PITCH_MAX 4500
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#define AP_MOTORS_HELI_COLLECTIVE_MIN 1250
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#define AP_MOTORS_HELI_COLLECTIVE_MAX 1750
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#define AP_MOTORS_HELI_COLLECTIVE_MID 1500
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// swash min and max position while in stabilize mode (as a number from 0 ~ 100)
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#define AP_MOTORS_HELI_MANUAL_COLLECTIVE_MIN 0
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#define AP_MOTORS_HELI_MANUAL_COLLECTIVE_MAX 100
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// swash min while landed or landing (as a number from 0 ~ 1000
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#define AP_MOTORS_HELI_LAND_COLLECTIVE_MIN 0
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// default external gyro gain (ch7 out)
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#define AP_MOTORS_HELI_EXT_GYRO_GAIN 1350
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// main rotor speed control types (ch8 out)
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#define AP_MOTORS_HELI_RSC_MODE_NONE 0 // main rotor ESC is directly connected to receiver
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#define AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH 1 // main rotor ESC is connected to RC8 (out) but pilot still directly controls speed with a passthrough from CH8 (in)
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#define AP_MOTORS_HELI_RSC_MODE_EXT_GOVERNOR 2 // main rotor ESC is connected to RC8 and controlled by arducopter
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// default main rotor governor set-point (ch8 out)
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#define AP_MOTORS_HELI_EXT_GOVERNOR_SETPOINT 1500
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// default main rotor ramp up rate in 100th of seconds
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#define AP_MOTORS_HELI_RSC_RATE 1000 // 1000 = 10 seconds
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// motor run-up time default in 100th of seconds
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#define AP_MOTORS_HELI_MOTOR_RUNUP_TIME 500 // 500 = 5 seconds
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// flybar types
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#define AP_MOTORS_HELI_NOFLYBAR 0
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#define AP_MOTORS_HELI_FLYBAR 1
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class AP_HeliControls;
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/// @class AP_MotorsHeli
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class AP_MotorsHeli : public AP_Motors {
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public:
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/// Constructor
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AP_MotorsHeli( RC_Channel* rc_roll,
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RC_Channel* rc_pitch,
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RC_Channel* rc_throttle,
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RC_Channel* rc_yaw,
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RC_Channel* rc_8,
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RC_Channel* swash_servo_1,
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RC_Channel* swash_servo_2,
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RC_Channel* swash_servo_3,
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RC_Channel* yaw_servo,
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uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
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_servo_1(swash_servo_1),
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_servo_2(swash_servo_2),
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_servo_3(swash_servo_3),
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_servo_4(yaw_servo),
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_rc_8(rc_8),
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_roll_scaler(1),
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_pitch_scaler(1),
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_collective_scalar(1),
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_collective_scalar_manual(1),
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_collective_out(0),
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_collective_mid_pwm(0),
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_rsc_output(0),
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_rsc_ramp(0),
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_motor_runup_timer(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// initialise flags
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_heliflags.swash_initialised = 0;
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_heliflags.landing_collective = 0;
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_heliflags.motor_runup_complete = 0;
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};
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// init
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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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void set_update_rate( uint16_t speed_hz );
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// enable - starts allowing signals to be sent to motors
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void enable();
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// output_min - sends minimum values out to the motors
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void output_min();
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// output_test - wiggle servos in order to show connections are correct
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void output_test();
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//
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// heli specific methods
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//
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// allow_arming - returns true if main rotor is spinning and it is ok to arm
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bool allow_arming();
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// ext_gyro_enabled - returns true if we have an external gyro for yaw control
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bool ext_gyro_enabled() { return _ext_gyro_enabled; }
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// ext_gyro_gain - gets and sets external gyro gain output on ch7
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int16_t ext_gyro_gain() { return _ext_gyro_gain; }
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void ext_gyro_gain(int16_t gain) { _ext_gyro_gain = gain; }
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// has_flybar - returns true if we have a mechical flybar
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bool has_flybar() { return _flybar_mode; }
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// get_pilot_desired_collective - converts pilot input (from 0 ~ 1000) to a value that can be fed into the move_swash function
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int16_t get_pilot_desired_collective(int16_t control_in);
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// get_collective_mid - returns collective mid position as a number from 0 ~ 1000
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int16_t get_collective_mid() { return _collective_mid; }
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// get_collective_out - returns collective position from last output as a number from 0 ~ 1000
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int16_t get_collective_out() { return _collective_out; }
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// get min/max collective when controlled manually as a number from 0 ~ 1000 (note that parameter is stored as percentage)
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int16_t get_manual_collective_min() { return _manual_collective_min*10; }
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int16_t get_manual_collective_max() { return _manual_collective_max*10; }
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// set_collective_for_landing - limits collective from going too low if we know we are landed
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void set_collective_for_landing(bool landing) { _heliflags.landing_collective = landing; }
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// return true if the main rotor is up to speed
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bool motor_runup_complete();
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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 - sends commands to the motors
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void output_armed();
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void output_disarmed();
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private:
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// heli_move_swash - moves swash plate to attitude of parameters passed in
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void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);
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// reset_swash - free up swash for maximum movements. Used for set-up
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void reset_swash();
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// init_swash - initialise the swash plate
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void init_swash();
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// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
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void calculate_roll_pitch_collective_factors();
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// rsc_control - update value to send to main rotor's ESC
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void rsc_control();
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// external objects we depend upon
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RC_Channel *_servo_1;
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RC_Channel *_servo_2;
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RC_Channel *_servo_3;
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RC_Channel *_servo_4;
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RC_Channel *_rc_8;
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// flags bitmask
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struct heliflags_type {
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uint8_t swash_initialised : 1; // true if swash has been initialised
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uint8_t landing_collective : 1; // true if collective is setup for landing which has much higher minimum
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uint8_t motor_runup_complete : 1; // true if the rotors have had enough time to wind up
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} _heliflags;
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// parameters
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AP_Int16 _servo1_pos; // Angular location of swash servo #1
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AP_Int16 _servo2_pos; // Angular location of swash servo #2
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AP_Int16 _servo3_pos; // Angular location of swash servo #3
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AP_Int16 _roll_max; // Maximum roll angle of the swash plate in centi-degrees
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AP_Int16 _pitch_max; // Maximum pitch angle of the swash plate in centi-degrees
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AP_Int16 _collective_min; // Lowest possible servo position for the swashplate
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AP_Int16 _collective_max; // Highest possible servo position for the swashplate
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AP_Int16 _collective_mid; // Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)
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AP_Int16 _ext_gyro_enabled; // Enabled/Disable an external rudder gyro connected to channel 7. With no external gyro a more complex yaw controller is used
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AP_Int8 _swash_type; // Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
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AP_Int16 _ext_gyro_gain; // PWM sent to the external gyro on Ch7
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AP_Int8 _servo_manual; // Pass radio inputs directly to servos during set-up through mission planner
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AP_Int16 _phase_angle; // Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem
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AP_Int16 _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
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AP_Int16 _ext_gov_setpoint; // PWM passed to the external motor governor when external governor is enabledv
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AP_Int8 _rsc_mode; // Sets which main rotor ESC control mode is active
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AP_Int16 _rsc_ramp_up_rate; // The time in 100th seconds the RSC takes to ramp up to speed
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AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
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AP_Int8 _manual_collective_min; // Minimum collective position while pilot directly controls the collective
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AP_Int8 _manual_collective_max; // Maximum collective position while pilot directly controls the collective
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AP_Int16 _land_collective_min; // Minimum collective when landed or landing
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// internal variables
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float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
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float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
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float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
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float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
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float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
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float _collective_scalar; // collective scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
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float _collective_scalar_manual; // collective scalar to reduce the range of the collective movement while collective is being controlled manually (i.e. directly by the pilot)
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int16_t _collective_out; // actual collective pitch value. Required by the main code for calculating cruise throttle
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int16_t _collective_mid_pwm; // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000)
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int16_t _rsc_output; // final output to the external motor governor 1000-2000
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int16_t _rsc_ramp; // current state of ramping
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int16_t _motor_runup_timer; // timer to determine if motor has run up fully
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};
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#endif // AP_MOTORSHELI
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