mirror of https://github.com/ArduPilot/ardupilot
108 lines
5.1 KiB
C++
108 lines
5.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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_MotorsQuad.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_MotorsQuad.h"
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// setup_motors - configures the motors for a quad
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void AP_MotorsQuad::setup_motors()
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{
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// call parent
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AP_MotorsMatrix::setup_motors();
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// hard coded config for supported frames
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if( _flags.frame_orientation == AP_MOTORS_PLUS_FRAME ) {
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// plus frame set-up
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add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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}else if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) {
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// V frame set-up
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add_motor(AP_MOTORS_MOT_1, 45, 0.7981f, 1);
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add_motor(AP_MOTORS_MOT_2, -135, 1.0000f, 3);
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add_motor(AP_MOTORS_MOT_3, -45, -0.7981f, 4);
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add_motor(AP_MOTORS_MOT_4, 135, -1.0000f, 2);
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}else if( _flags.frame_orientation == AP_MOTORS_H_FRAME ) {
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// H frame set-up - same as X but motors spin in opposite directiSons
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
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add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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}else if(_flags.frame_orientation == AP_MOTORS_VTAIL_FRAME) {
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/*
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Tested with: Lynxmotion Hunter Vtail 400
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- inverted rear outward blowing motors (at a 40 degree angle)
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- should also work with non-inverted rear outward blowing motors
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- no roll in rear motors
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- no yaw in front motors
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- should fly like some mix between a tricopter and X Quadcopter
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Roll control comes only from the front motors, Yaw control only from the rear motors.
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Roll & Pitch factor is measured by the angle away from the top of the forward axis to each arm.
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Note: if we want the front motors to help with yaw,
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motors 1's yaw factor should be changed to sin(radians(40)). Where "40" is the vtail angle
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motors 3's yaw factor should be changed to -sin(radians(40))
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*/
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add_motor(AP_MOTORS_MOT_1, 60, 60, 0, 1);
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add_motor(AP_MOTORS_MOT_2, 0, -160, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
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add_motor(AP_MOTORS_MOT_3, -60, -60, 0, 4);
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add_motor(AP_MOTORS_MOT_4, 0, 160, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
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} else if (_flags.frame_orientation == AP_MOTORS_ATAIL_FRAME) {
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/*
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The A-Shaped VTail is the exact same as a V-Shaped VTail, with one difference:
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- The Yaw factors are reversed, because the rear motors are facing different directions
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With V-Shaped VTails, the props make a V-Shape when spinning, but with
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A-Shaped VTails, the props make an A-Shape when spinning.
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- Rear thrust on a V-Shaped V-Tail Quad is outward
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- Rear thrust on an A-Shaped V-Tail Quad is inward
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Still functions the same as the V-Shaped VTail mixing below:
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- Yaw control is entirely in the rear motors
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- Roll is is entirely in the front motors
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*/
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add_motor(AP_MOTORS_MOT_1, 60, 60, 0, 1);
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add_motor(AP_MOTORS_MOT_2, 0, -160, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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add_motor(AP_MOTORS_MOT_3, -60, -60, 0, 4);
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add_motor(AP_MOTORS_MOT_4, 0, 160, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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} else if ( _flags.frame_orientation == AP_MOTORS_QUADPLANE ) {
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// quadplane frame set-up, X arrangement on motors 5 to 8
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add_motor(AP_MOTORS_MOT_5, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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add_motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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add_motor(AP_MOTORS_MOT_8, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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}else{
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// X frame set-up
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add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
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add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
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add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
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add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
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}
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// normalise factors to magnitude 0.5
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normalise_rpy_factors();
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}
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