mirror of https://github.com/ArduPilot/ardupilot
251 lines
12 KiB
C++
251 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/AP_Common.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel/RC_Channel.h> // RC Channel Library
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#include "AP_Motors_Class.h"
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#include "AP_MotorsHeli_RSC.h"
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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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// default swash min and max angles and positions
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#define AP_MOTORS_HELI_SWASH_CYCLIC_MAX 2500
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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 main rotor speed (ch8 out) as a number from 0 ~ 1000
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#define AP_MOTORS_HELI_RSC_SETPOINT 700
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// default main rotor critical speed
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#define AP_MOTORS_HELI_RSC_CRITICAL 500
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// RSC output defaults
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#define AP_MOTORS_HELI_RSC_IDLE_DEFAULT 0
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#define AP_MOTORS_HELI_RSC_POWER_LOW_DEFAULT 200
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#define AP_MOTORS_HELI_RSC_POWER_HIGH_DEFAULT 700
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// default main rotor ramp up time in seconds
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#define AP_MOTORS_HELI_RSC_RAMP_TIME 1 // 1 second to ramp output to main rotor ESC to full power (most people use exterrnal govenors so we can ramp up quickly)
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#define AP_MOTORS_HELI_RSC_RUNUP_TIME 10 // 10 seconds for rotor to reach full speed
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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( uint16_t loop_rate,
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uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
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AP_Motors(loop_rate, speed_hz)
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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.landing_collective = 0;
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_heliflags.rotor_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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virtual void set_update_rate( uint16_t speed_hz ) = 0;
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// enable - starts allowing signals to be sent to motors
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virtual void enable() = 0;
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// output_min - sets servos to neutral point with motors stopped
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void output_min();
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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) = 0;
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// slow_start - ignored by helicopters
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void slow_start(bool true_false) {};
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//
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// heli specific methods
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//
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// parameter_check - returns true if helicopter specific parameters are sensible, used for pre-arm check
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virtual bool parameter_check(bool display_msg) const;
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// has_flybar - returns true if we have a mechical flybar
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virtual bool has_flybar() const { return AP_MOTORS_HELI_NOFLYBAR; }
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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() const { 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() const { return _collective_out; }
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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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// get_rsc_mode - gets the rotor speed control method (AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH or AP_MOTORS_HELI_RSC_MODE_SETPOINT)
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uint8_t get_rsc_mode() const { return _rsc_mode; }
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// get_rsc_setpoint - gets contents of _rsc_setpoint parameter (0~1000)
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int16_t get_rsc_setpoint() const { return _rsc_setpoint; }
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// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
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virtual void set_desired_rotor_speed(int16_t desired_speed) = 0;
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// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
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virtual int16_t get_desired_rotor_speed() const = 0;
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// get_main_rotor_speed - gets estimated or measured main rotor speed
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virtual int16_t get_main_rotor_speed() const = 0;
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// return true if the main rotor is up to speed
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bool rotor_runup_complete() const { return _heliflags.rotor_runup_complete; }
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// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
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virtual bool rotor_speed_above_critical() const = 0;
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// calculate_scalars - must be implemented by child classes
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virtual void calculate_scalars() = 0;
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// calculate_armed_scalars - must be implemented by child classes
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virtual void calculate_armed_scalars() = 0;
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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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// set_delta_phase_angle for setting variable phase angle compensation and force recalculation of collective factors
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// ignored unless overloaded by child classes
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virtual void set_delta_phase_angle(int16_t angle){};
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// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (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() = 0;
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// set_radio_passthrough used to pass radio inputs directly to outputs
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void set_radio_passthrough(int16_t radio_roll_input, int16_t radio_pitch_input, int16_t radio_throttle_input, int16_t radio_yaw_input);
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// reset_radio_passthrough used to reset all radio inputs to center
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void reset_radio_passthrough();
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// servo_test - move servos through full range of movement
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// to be overloaded by child classes, different vehicle types would have different movement patterns
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virtual void servo_test() = 0;
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// output - sends commands to the motors
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void output();
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// manual servo modes (used for setup)
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enum ServoControlModes {
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SERVO_CONTROL_MODE_AUTOMATED,
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SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH,
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SERVO_CONTROL_MODE_MANUAL_MAX,
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SERVO_CONTROL_MODE_MANUAL_CENTER,
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SERVO_CONTROL_MODE_MANUAL_MIN,
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SERVO_CONTROL_MODE_MANUAL_OSCILLATE,
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};
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// supports_yaw_passthrough
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virtual bool supports_yaw_passthrough() const { return false; }
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing();
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void output_armed_not_stabilizing();
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void output_armed_zero_throttle();
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void output_disarmed();
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// update_motor_controls - sends commands to motor controllers
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virtual void update_motor_control(RotorControlState state) = 0;
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// reset_flight_controls - resets all controls and scalars to flight status
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void reset_flight_controls();
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// update the throttle input filter
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void update_throttle_filter();
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// move_actuators - moves swash plate and tail rotor
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virtual void move_actuators(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out) = 0;
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// reset_swash_servo - free up swash servo for maximum movement
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static void reset_swash_servo(RC_Channel& servo);
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// init_outputs - initialise Servo/PWM ranges and endpoints
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virtual void init_outputs() = 0;
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// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
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virtual void calculate_roll_pitch_collective_factors() = 0;
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// flags bitmask
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struct heliflags_type {
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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 rotor_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 _cyclic_max; // Maximum cyclic 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_Int8 _servo_mode; // Pass radio inputs directly to servos during set-up through mission planner
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AP_Int16 _rsc_setpoint; // rotor speed when RSC mode is set to is enabledv
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AP_Int8 _rsc_mode; // Which main rotor ESC control mode is active
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AP_Int8 _rsc_ramp_time; // Time in seconds for the output to the main rotor's ESC to reach full speed
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AP_Int8 _rsc_runup_time; // Time in seconds for the main rotor to reach full speed. Must be longer than _rsc_ramp_time
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AP_Int16 _land_collective_min; // Minimum collective when landed or landing
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AP_Int16 _rsc_critical; // Rotor speed below which flight is not possible
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AP_Int16 _rsc_idle_output; // Rotor control output while at idle
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AP_Int16 _rsc_power_low; // throttle value sent to throttle servo at zero collective pitch
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AP_Int16 _rsc_power_high; // throttle value sent to throttle servo at maximum collective pitch
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AP_Int8 _servo_test; // sets number of cycles to test servo movement on bootup
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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 = 1; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
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float _pitch_scaler = 1; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
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float _collective_scalar = 1; // 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 _main_rotor_power = 0; // estimated main rotor power load, range 0-1.0f, used for RSC feedforward
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int16_t _collective_out = 0; // actual collective pitch value. Required by the main code for calculating cruise throttle
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int16_t _collective_mid_pwm = 0; // collective mid parameter value converted to pwm form (i.e. 0 ~ 1000)
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int16_t _delta_phase_angle = 0; // phase angle dynamic compensation
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int16_t _roll_radio_passthrough = 0; // roll control PWM direct from radio, used for manual control
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int16_t _pitch_radio_passthrough = 0; // pitch control PWM direct from radio, used for manual control
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int16_t _throttle_radio_passthrough = 0; // throttle control PWM direct from radio, used for manual control
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int16_t _yaw_radio_passthrough = 0; // yaw control PWM direct from radio, used for manual control
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int16_t _collective_range = 0; // maximum absolute collective pitch range (500 - 1000)
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uint8_t _servo_test_cycle_counter = 0; // number of test cycles left to run after bootup
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};
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#endif // AP_MOTORSHELI
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