mirror of https://github.com/ArduPilot/ardupilot
192 lines
5.6 KiB
C++
192 lines
5.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Motors.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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*/
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#include "AP_Motors_Class.h"
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#include <AP_HAL/AP_HAL.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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// Constructor
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AP_Motors::AP_Motors(uint16_t loop_rate, uint16_t speed_hz) :
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_loop_rate(loop_rate),
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_speed_hz(speed_hz),
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_roll_in(0.0f),
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_pitch_in(0.0f),
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_yaw_in(0.0f),
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_throttle_in(0.0f),
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_throttle_avg_max(0.0f),
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_throttle_filter(),
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_spool_desired(DESIRED_SHUT_DOWN),
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_air_density_ratio(1.0f),
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_motor_fast_mask(0)
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{
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// init other flags
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_flags.armed = false;
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_flags.interlock = false;
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_flags.initialised_ok = false;
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// setup throttle filtering
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_throttle_filter.set_cutoff_frequency(0.0f);
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_throttle_filter.reset(0.0f);
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// init limit flags
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limit.roll_pitch = true;
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limit.yaw = true;
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limit.throttle_lower = true;
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limit.throttle_upper = true;
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};
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void AP_Motors::armed(bool arm)
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{
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if (_flags.armed != arm) {
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_flags.armed = arm;
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AP_Notify::flags.armed = arm;
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if (!arm) {
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save_params_on_disarm();
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}
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}
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};
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// pilot input in the -1 ~ +1 range for roll, pitch and yaw. 0~1 range for throttle
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void AP_Motors::set_radio_passthrough(float roll_input, float pitch_input, float throttle_input, float yaw_input)
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{
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_roll_radio_passthrough = roll_input;
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_pitch_radio_passthrough = pitch_input;
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_throttle_radio_passthrough = throttle_input;
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_yaw_radio_passthrough = yaw_input;
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}
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/*
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write to an output channel
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*/
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void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
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{
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if (_pwm_type == PWM_TYPE_ONESHOT125 && (_motor_fast_mask & (1U<<chan))) {
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// OneShot125 uses a PWM range from 125 to 250 usec
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pwm /= 8;
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/*
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OneShot125 ESCs can be confused by pulses below 125 or above
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250, making them fail the pulse type auto-detection. This
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happens at least with BLHeli
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*/
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if (pwm < 125) {
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pwm = 125;
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} else if (pwm > 250) {
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pwm = 250;
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}
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}
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SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(chan);
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SRV_Channels::set_output_pwm(function, pwm);
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}
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/*
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set frequency of a set of channels
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*/
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void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
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{
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if (freq_hz > 50) {
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_motor_fast_mask |= mask;
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}
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mask = rc_map_mask(mask);
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hal.rcout->set_freq(mask, freq_hz);
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if ((_pwm_type == PWM_TYPE_ONESHOT ||
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_pwm_type == PWM_TYPE_ONESHOT125) &&
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freq_hz > 50 &&
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mask != 0) {
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// tell HAL to do immediate output
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hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
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} else if (_pwm_type == PWM_TYPE_BRUSHED) {
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hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED);
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}
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}
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/*
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map an internal motor mask to real motor mask, accounting for
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SERVOn_FUNCTION mappings, and allowing for multiple outputs per
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motor number
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*/
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uint32_t AP_Motors::rc_map_mask(uint32_t mask) const
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{
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uint32_t mask2 = 0;
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for (uint8_t i=0; i<32; i++) {
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uint32_t bit = 1UL<<i;
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if (mask & bit) {
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SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
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mask2 |= SRV_Channels::get_output_channel_mask(function);
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}
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}
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return mask2;
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}
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// convert input in -1 to +1 range to pwm output
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int16_t AP_Motors::calc_pwm_output_1to1(float input, const SRV_Channel *servo)
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{
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int16_t ret;
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input = constrain_float(input, -1.0f, 1.0f);
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if (servo->get_reversed()) {
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input = -input;
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}
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if (input >= 0.0f) {
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ret = ((input * (servo->get_output_max() - servo->get_trim())) + servo->get_trim());
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} else {
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ret = ((input * (servo->get_trim() - servo->get_output_min())) + servo->get_trim());
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}
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return constrain_int16(ret, servo->get_output_min(), servo->get_output_max());
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}
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// convert input in 0 to +1 range to pwm output
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int16_t AP_Motors::calc_pwm_output_0to1(float input, const SRV_Channel *servo)
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{
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int16_t ret;
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input = constrain_float(input, 0.0f, 1.0f);
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if (servo->get_reversed()) {
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input = 1.0f-input;
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}
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ret = input * (servo->get_output_max() - servo->get_output_min()) + servo->get_output_min();
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return constrain_int16(ret, servo->get_output_min(), servo->get_output_max());
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}
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/*
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add a motor, setting up default output function as needed
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*/
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void AP_Motors::add_motor_num(int8_t motor_num)
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{
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// ensure valid motor number is provided
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if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
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uint8_t chan;
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SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(motor_num);
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SRV_Channels::set_aux_channel_default(function, motor_num);
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if (!SRV_Channels::find_channel(function, chan)) {
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gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
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}
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}
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}
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