mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/// @file AP_MotorsSingle.h
|
|
/// @brief Motor and Servo control class for Singlecopters
|
|
|
|
#ifndef __AP_MOTORS_SING_H__
|
|
#define __AP_MOTORS_SING_H__
|
|
|
|
#include <AP_Common.h>
|
|
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <RC_Channel.h> // RC Channel Library
|
|
#include "AP_Motors.h"
|
|
|
|
// feedback direction
|
|
#define AP_MOTORS_SING_POSITIVE 1
|
|
#define AP_MOTORS_SING_NEGATIVE -1
|
|
|
|
#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
|
|
#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
|
|
|
|
/// @class AP_MotorsSingle
|
|
class AP_MotorsSingle : public AP_Motors {
|
|
public:
|
|
|
|
/// Constructor
|
|
AP_MotorsSingle( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, RC_Channel* servo1, RC_Channel* servo2, RC_Channel* servo3, RC_Channel* servo4, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
|
|
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
|
|
_servo1(servo1),
|
|
_servo2(servo2),
|
|
_servo3(servo3),
|
|
_servo4(servo4)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
};
|
|
|
|
// init
|
|
virtual void Init();
|
|
|
|
// set update rate to motors - a value in hertz
|
|
void set_update_rate( uint16_t speed_hz );
|
|
|
|
// enable - starts allowing signals to be sent to motors
|
|
virtual void enable();
|
|
|
|
// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
|
|
virtual void output_test();
|
|
|
|
// output_min - sends minimum values out to the motors
|
|
virtual void output_min();
|
|
|
|
// var_info for holding Parameter information
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
// output - sends commands to the motors
|
|
virtual void output_armed();
|
|
virtual void output_disarmed();
|
|
|
|
AP_Int8 _rev_roll; // REV Roll feedback
|
|
AP_Int8 _rev_pitch; // REV pitch feedback
|
|
AP_Int8 _rev_yaw; // REV yaw feedback
|
|
AP_Int16 _servo_speed; // servo speed
|
|
RC_Channel* _servo1;
|
|
RC_Channel* _servo2;
|
|
RC_Channel* _servo3;
|
|
RC_Channel* _servo4;
|
|
};
|
|
|
|
#endif // AP_MOTORSSINGLE
|