mirror of https://github.com/ArduPilot/ardupilot
362 lines
14 KiB
C++
362 lines
14 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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#include <AP_HAL/AP_HAL.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS.h>
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#include "AP_MotorsTri.h"
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extern const AP_HAL::HAL& hal;
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// init
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void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_type)
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{
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add_motor_num(AP_MOTORS_MOT_1);
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add_motor_num(AP_MOTORS_MOT_2);
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add_motor_num(AP_MOTORS_MOT_4);
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// set update rate for the 3 motors (but not the servo on channel 7)
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set_update_rate(_speed_hz);
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// set the motor_enabled flag so that the ESCs can be calibrated like other frame types
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motor_enabled[AP_MOTORS_MOT_1] = true;
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motor_enabled[AP_MOTORS_MOT_2] = true;
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motor_enabled[AP_MOTORS_MOT_4] = true;
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#if !APM_BUILD_TYPE(APM_BUILD_ArduPlane) // Tilt Rotors do not need a yaw servo
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// find the yaw servo
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if (!SRV_Channels::get_channel_for(SRV_Channel::k_motor7, AP_MOTORS_CH_TRI_YAW)) {
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gcs().send_text(MAV_SEVERITY_ERROR, "MotorsTri: unable to setup yaw channel");
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// don't set initialised_ok
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return;
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}
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#endif
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// allow mapping of motor7
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add_motor_num(AP_MOTORS_CH_TRI_YAW);
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SRV_Channels::set_angle(SRV_Channels::get_motor_function(AP_MOTORS_CH_TRI_YAW), _yaw_servo_angle_max_deg*100);
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// check for reverse tricopter
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if (frame_type == MOTOR_FRAME_TYPE_PLUSREV) {
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_pitch_reversed = true;
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}
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_mav_type = MAV_TYPE_TRICOPTER;
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// record successful initialisation if what we setup was the desired frame_class
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set_initialised_ok(frame_class == MOTOR_FRAME_TRI);
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}
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// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
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void AP_MotorsTri::set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type)
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{
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// check for reverse tricopter
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if (frame_type == MOTOR_FRAME_TYPE_PLUSREV) {
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_pitch_reversed = true;
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} else {
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_pitch_reversed = false;
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}
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set_initialised_ok((frame_class == MOTOR_FRAME_TRI) && SRV_Channels::function_assigned(SRV_Channel::k_motor7));
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}
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// set update rate to motors - a value in hertz
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void AP_MotorsTri::set_update_rate(uint16_t speed_hz)
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{
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// record requested speed
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_speed_hz = speed_hz;
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// set update rate for the 3 motors (but not the servo on channel 7)
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uint32_t mask =
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1U << AP_MOTORS_MOT_1 |
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1U << AP_MOTORS_MOT_2 |
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1U << AP_MOTORS_MOT_4;
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rc_set_freq(mask, _speed_hz);
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}
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void AP_MotorsTri::output_to_motors()
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{
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switch (_spool_state) {
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case SpoolState::SHUT_DOWN:
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// sends minimum values out to the motors
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rc_write(AP_MOTORS_MOT_1, output_to_pwm(0));
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rc_write(AP_MOTORS_MOT_2, output_to_pwm(0));
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rc_write(AP_MOTORS_MOT_4, output_to_pwm(0));
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rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
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break;
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case SpoolState::GROUND_IDLE:
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// sends output to motors when armed but not flying
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set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
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set_actuator_with_slew(_actuator[2], actuator_spin_up_to_ground_idle());
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set_actuator_with_slew(_actuator[4], actuator_spin_up_to_ground_idle());
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rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
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rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
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rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
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rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
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break;
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case SpoolState::SPOOLING_UP:
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case SpoolState::THROTTLE_UNLIMITED:
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case SpoolState::SPOOLING_DOWN:
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// set motor output based on thrust requests
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set_actuator_with_slew(_actuator[1], thrust_to_actuator(_thrust_right));
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set_actuator_with_slew(_actuator[2], thrust_to_actuator(_thrust_left));
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set_actuator_with_slew(_actuator[4], thrust_to_actuator(_thrust_rear));
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rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
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rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
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rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
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rc_write_angle(AP_MOTORS_CH_TRI_YAW, degrees(_pivot_angle)*100);
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break;
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}
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}
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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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uint32_t AP_MotorsTri::get_motor_mask()
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{
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// tri copter uses channels 1,2,4 and 7
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uint32_t motor_mask = (1U << AP_MOTORS_MOT_1) |
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(1U << AP_MOTORS_MOT_2) |
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(1U << AP_MOTORS_MOT_4);
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uint32_t mask = motor_mask_to_srv_channel_mask(motor_mask);
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// add parent's mask
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mask |= AP_MotorsMulticopter::get_motor_mask();
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return mask;
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}
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// output_armed - sends commands to the motors
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// includes new scaling stability patch
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void AP_MotorsTri::output_armed_stabilizing()
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{
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float roll_thrust; // roll thrust input value, +/- 1.0
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float pitch_thrust; // pitch thrust input value, +/- 1.0
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float yaw_thrust; // yaw thrust input value, +/- 1.0
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float throttle_thrust; // throttle thrust input value, 0.0 - 1.0
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float throttle_avg_max; // throttle thrust average maximum value, 0.0 - 1.0
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float throttle_thrust_best_rpy; // throttle providing maximum roll, pitch and yaw range without climbing
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float rpy_scale = 1.0f; // this is used to scale the roll, pitch and yaw to fit within the motor limits
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float rpy_low = 0.0f; // lowest motor value
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float rpy_high = 0.0f; // highest motor value
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float thr_adj; // the difference between the pilot's desired throttle and throttle_thrust_best_rpy
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SRV_Channels::set_angle(SRV_Channels::get_motor_function(AP_MOTORS_CH_TRI_YAW), _yaw_servo_angle_max_deg*100);
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// sanity check YAW_SV_ANGLE parameter value to avoid divide by zero
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_yaw_servo_angle_max_deg = constrain_float(_yaw_servo_angle_max_deg, AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN, AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX);
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// apply voltage and air pressure compensation
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const float compensation_gain = get_compensation_gain();
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roll_thrust = (_roll_in + _roll_in_ff) * compensation_gain;
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pitch_thrust = (_pitch_in + _pitch_in_ff) * compensation_gain;
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yaw_thrust = (_yaw_in + _yaw_in_ff) * compensation_gain * sinf(radians(_yaw_servo_angle_max_deg)); // we scale this so a thrust request of 1.0f will ask for full servo deflection at full rear throttle
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throttle_thrust = get_throttle() * compensation_gain;
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throttle_avg_max = _throttle_avg_max * compensation_gain;
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// check for reversed pitch
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if (_pitch_reversed) {
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pitch_thrust *= -1.0f;
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}
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// calculate angle of yaw pivot
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_pivot_angle = safe_asin(yaw_thrust);
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if (fabsf(_pivot_angle) > radians(_yaw_servo_angle_max_deg)) {
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limit.yaw = true;
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_pivot_angle = constrain_float(_pivot_angle, -radians(_yaw_servo_angle_max_deg), radians(_yaw_servo_angle_max_deg));
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}
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float pivot_thrust_max = cosf(_pivot_angle);
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float thrust_max = 1.0f;
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// sanity check throttle is above zero and below current limited throttle
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if (throttle_thrust <= 0.0f) {
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throttle_thrust = 0.0f;
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limit.throttle_lower = true;
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}
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if (throttle_thrust >= _throttle_thrust_max) {
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throttle_thrust = _throttle_thrust_max;
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limit.throttle_upper = true;
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}
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throttle_avg_max = constrain_float(throttle_avg_max, throttle_thrust, _throttle_thrust_max);
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// The following mix may be offer less coupling between axis but needs testing
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//_thrust_right = roll_thrust * -0.5f + pitch_thrust * 1.0f;
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//_thrust_left = roll_thrust * 0.5f + pitch_thrust * 1.0f;
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//_thrust_rear = 0;
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_thrust_right = roll_thrust * -0.5f + pitch_thrust * 0.5f;
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_thrust_left = roll_thrust * 0.5f + pitch_thrust * 0.5f;
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_thrust_rear = pitch_thrust * -0.5f;
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// calculate roll and pitch for each motor
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// set rpy_low and rpy_high to the lowest and highest values of the motors
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// record lowest roll pitch command
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rpy_low = MIN(_thrust_right, _thrust_left);
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rpy_high = MAX(_thrust_right, _thrust_left);
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if (rpy_low > _thrust_rear) {
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rpy_low = _thrust_rear;
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}
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// check to see if the rear motor will reach maximum thrust before the front two motors
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if ((1.0f - rpy_high) > (pivot_thrust_max - _thrust_rear)) {
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thrust_max = pivot_thrust_max;
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rpy_high = _thrust_rear;
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}
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// calculate throttle that gives most possible room for yaw (range 1000 ~ 2000) which is the lower of:
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// 1. 0.5f - (rpy_low+rpy_high)/2.0 - this would give the maximum possible room margin above the highest motor and below the lowest
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// 2. the higher of:
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// a) the pilot's throttle input
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// b) the point _throttle_rpy_mix between the pilot's input throttle and hover-throttle
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// Situation #2 ensure we never increase the throttle above hover throttle unless the pilot has commanded this.
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// Situation #2b allows us to raise the throttle above what the pilot commanded but not so far that it would actually cause the copter to rise.
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// We will choose #1 (the best throttle for yaw control) if that means reducing throttle to the motors (i.e. we favor reducing throttle *because* it provides better yaw control)
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// We will choose #2 (a mix of pilot and hover throttle) only when the throttle is quite low. We favor reducing throttle instead of better yaw control because the pilot has commanded it
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// check everything fits
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throttle_thrust_best_rpy = MIN(0.5f * thrust_max - (rpy_low + rpy_high) / 2.0, throttle_avg_max);
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if (is_zero(rpy_low)) {
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rpy_scale = 1.0f;
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} else {
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rpy_scale = constrain_float(-throttle_thrust_best_rpy / rpy_low, 0.0f, 1.0f);
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}
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// calculate how close the motors can come to the desired throttle
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thr_adj = throttle_thrust - throttle_thrust_best_rpy;
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if (rpy_scale < 1.0f) {
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// Full range is being used by roll, pitch, and yaw.
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limit.roll = true;
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limit.pitch = true;
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if (thr_adj > 0.0f) {
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limit.throttle_upper = true;
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}
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thr_adj = 0.0f;
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} else {
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if (thr_adj < -(throttle_thrust_best_rpy + rpy_low)) {
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// Throttle can't be reduced to desired value
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thr_adj = -(throttle_thrust_best_rpy + rpy_low);
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} else if (thr_adj > thrust_max - (throttle_thrust_best_rpy + rpy_high)) {
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// Throttle can't be increased to desired value
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thr_adj = thrust_max - (throttle_thrust_best_rpy + rpy_high);
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limit.throttle_upper = true;
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}
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}
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// determine throttle thrust for harmonic notch
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const float throttle_thrust_best_plus_adj = throttle_thrust_best_rpy + thr_adj;
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// compensation_gain can never be zero
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_throttle_out = throttle_thrust_best_plus_adj / compensation_gain;
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// add scaled roll, pitch, constrained yaw and throttle for each motor
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_thrust_right = throttle_thrust_best_plus_adj + rpy_scale * _thrust_right;
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_thrust_left = throttle_thrust_best_plus_adj + rpy_scale * _thrust_left;
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_thrust_rear = throttle_thrust_best_plus_adj + rpy_scale * _thrust_rear;
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// scale pivot thrust to account for pivot angle
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// we should not need to check for divide by zero as _pivot_angle is constrained to the 5deg ~ 80 deg range
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_thrust_rear = _thrust_rear / cosf(_pivot_angle);
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// constrain all outputs to 0.0f to 1.0f
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// test code should be run with these lines commented out as they should not do anything
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_thrust_right = constrain_float(_thrust_right, 0.0f, 1.0f);
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_thrust_left = constrain_float(_thrust_left, 0.0f, 1.0f);
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_thrust_rear = constrain_float(_thrust_rear, 0.0f, 1.0f);
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}
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// output_test_seq - 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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void AP_MotorsTri::_output_test_seq(uint8_t motor_seq, int16_t pwm)
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{
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// output to motors and servos
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switch (motor_seq) {
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case 1:
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// front right motor
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rc_write(AP_MOTORS_MOT_1, pwm);
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break;
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case 2:
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// back motor
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rc_write(AP_MOTORS_MOT_4, pwm);
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break;
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case 3:
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// back servo
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rc_write(AP_MOTORS_CH_TRI_YAW, pwm);
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break;
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case 4:
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// front left motor
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rc_write(AP_MOTORS_MOT_2, pwm);
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break;
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default:
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// do nothing
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break;
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}
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}
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/*
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call vehicle supplied thrust compensation if set. This allows for
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vehicle specific thrust compensation for motor arrangements such as
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the forward motors tilting
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*/
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void AP_MotorsTri::thrust_compensation(void)
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{
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if (_thrust_compensation_callback) {
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// convert 3 thrust values into an array indexed by motor number
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float thrust[4] { _thrust_right, _thrust_left, 0, _thrust_rear };
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// apply vehicle supplied compensation function
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_thrust_compensation_callback(thrust, 4);
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// extract compensated thrust values
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_thrust_right = thrust[0];
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_thrust_left = thrust[1];
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_thrust_rear = thrust[3];
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}
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}
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/*
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override tricopter tail servo output in output_motor_mask
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*/
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void AP_MotorsTri::output_motor_mask(float thrust, uint8_t mask, float rudder_dt)
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{
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// normal multicopter output
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AP_MotorsMulticopter::output_motor_mask(thrust, mask, rudder_dt);
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// and override yaw servo
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rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
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}
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float AP_MotorsTri::get_roll_factor(uint8_t i)
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{
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float ret = 0.0f;
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switch (i) {
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// right motor
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case AP_MOTORS_MOT_1:
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ret = -1.0f;
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break;
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// left motor
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case AP_MOTORS_MOT_2:
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ret = 1.0f;
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break;
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}
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return ret;
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}
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