mirror of https://github.com/ArduPilot/ardupilot
136 lines
4.3 KiB
C++
136 lines
4.3 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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#include <stdlib.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_MotorsHeli_RSC.h"
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extern const AP_HAL::HAL& hal;
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// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
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void AP_MotorsHeli_RSC::recalc_scalers()
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{
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// recalculate rotor ramp up increment
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if (_ramp_time <= 0) {
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_ramp_time = 1;
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}
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_ramp_increment = 1000.0f / (_ramp_time * _loop_rate);
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// recalculate rotor runup increment
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if (_runup_time <= 0 ) {
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_runup_time = 1;
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}
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if (_runup_time < _ramp_time) {
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_runup_time = _ramp_time;
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}
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_runup_increment = 1000.0f / (_runup_time * _loop_rate);
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}
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// output - update value to send to ESC/Servo
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void AP_MotorsHeli_RSC::output(uint8_t state)
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{
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switch (state){
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case ROTOR_CONTROL_STOP:
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_control_speed = 0; // ramp input to zero
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_control_out = 0; // force ramp output to zero
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_estimated_speed = 0; // force speed estimate to zero
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break;
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case ROTOR_CONTROL_IDLE:
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_control_speed = _idle_speed; // set control speed to idle speed
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if (_control_out < _idle_speed){
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_control_out = _idle_speed; // if control output is less than idle speed, force ramp function to jump to idle speed
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}
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break;
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case ROTOR_CONTROL_ACTIVE:
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_control_speed = _desired_speed; // set control speed to desired speed
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break;
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}
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// run speed ramp function to slew output smoothly
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speed_ramp(_control_speed);
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// update rotor speed estimate
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update_speed_estimate();
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// output to rsc servo
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write_rsc(_control_out);
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}
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// speed_ramp - ramps speed towards target, result put in _control_out
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void AP_MotorsHeli_RSC::speed_ramp(int16_t speed_target)
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{
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// range check speed_target
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speed_target = constrain_int16(speed_target,0,1000);
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// ramp output upwards towards target
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if (_control_out < speed_target) {
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// allow control output to jump to estimated speed
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if (_control_out < _estimated_speed) {
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_control_out = _estimated_speed;
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}
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// ramp up slowly to target
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_control_out += _ramp_increment;
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if (_control_out > speed_target) {
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_control_out = speed_target;
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}
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}else{
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// ramping down happens instantly
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_control_out = speed_target;
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}
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}
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// update_speed_estimate - function to estimate speed
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void AP_MotorsHeli_RSC::update_speed_estimate()
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{
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// ramp speed estimate towards control out
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if (_estimated_speed < _control_out) {
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_estimated_speed += _runup_increment;
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if (_estimated_speed > _control_out) {
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_estimated_speed = _control_out;
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}
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}else{
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_estimated_speed -= _runup_increment;
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if (_estimated_speed < _control_out) {
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_estimated_speed = _control_out;
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}
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}
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// update run-up complete flag
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if (!_runup_complete && _control_out > _idle_speed && _estimated_speed >= _control_out) {
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_runup_complete = true;
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}
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if (_runup_complete && _estimated_speed <= _critical_speed) {
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_runup_complete = false;
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}
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}
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// write_rsc - outputs pwm onto output rsc channel
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// servo_out parameter is of the range 0 ~ 1000
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void AP_MotorsHeli_RSC::write_rsc(int16_t servo_out)
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{
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_servo_output.servo_out = servo_out;
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_servo_output.calc_pwm();
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hal.rcout->write(_servo_output_channel, _servo_output.radio_out);
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} |