mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.8 KiB
C++
91 lines
3.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_MOTORS_HELI_RSC_H__
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#define __AP_MOTORS_HELI_RSC_H__
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel/RC_Channel.h> // RC Channel Library
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// rotor controller states
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#define ROTOR_CONTROL_STOP 0
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#define ROTOR_CONTROL_IDLE 1
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#define ROTOR_CONTROL_ACTIVE 2
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class AP_MotorsHeli_RSC {
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public:
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AP_MotorsHeli_RSC(RC_Channel& servo_output,
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int8_t servo_output_channel,
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uint16_t loop_rate) :
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_servo_output(servo_output),
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_servo_output_channel(servo_output_channel),
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_loop_rate(loop_rate)
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{};
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// set_critical_speed
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void set_critical_speed(int16_t critical_speed) { _critical_speed = critical_speed; }
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// get_critical_speed
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int16_t get_critical_speed() const { return _critical_speed; }
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// set_idle_speed
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void set_idle_speed(int16_t idle_speed) { _idle_speed = idle_speed; }
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// get_desired_speed
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int16_t get_desired_speed() const { return _desired_speed; }
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// set_desired_speed
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void set_desired_speed(int16_t desired_speed) { _desired_speed = desired_speed; }
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// get_control_speed
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int16_t get_control_speed() const { return _control_speed; }
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// get_estimated_speed
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int16_t get_estimated_speed() const { return _estimated_speed; }
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// is_runup_complete
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bool is_runup_complete() const { return _runup_complete; }
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// set_ramp_time
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void set_ramp_time(int8_t ramp_time) { _ramp_time = ramp_time; }
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// set_runup_time
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void set_runup_time(int8_t runup_time) { _runup_time = runup_time; }
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// recalc_scalers
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void recalc_scalers();
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// output - update value to send to ESC/Servo
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void output(uint8_t state);
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private:
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// external variables
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RC_Channel& _servo_output;
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int8_t _servo_output_channel; // output channel to rotor esc
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float _loop_rate; // main loop rate
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// internal variables
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int16_t _critical_speed = 0; // rotor speed below which flight is not possible
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int16_t _idle_speed = 0; // motor output idle speed
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int16_t _desired_speed = 0; // latest desired rotor speed from pilot
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int16_t _control_speed = 0; // latest logic controlled rotor speed
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float _control_out = 0; // latest output sent to the main rotor or an estimate of the rotors actual speed (whichever is higher) (0 ~ 1000)
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float _estimated_speed = 0; // estimated speed of the main rotor (0~1000)
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float _ramp_increment = 0; // the amount we can increase the rotor output during each 100hz iteration
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int8_t _ramp_time = 0; // time in seconds for the output to the main rotor's ESC to reach full speed
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int8_t _runup_time = 0; // time in seconds for the main rotor to reach full speed. Must be longer than _rsc_ramp_time
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float _runup_increment = 0; // the amount we can increase the rotor's estimated speed during each 100hz iteration
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bool _runup_complete = false; // flag for determining if runup is complete
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// speed_ramp - ramps speed towards target, result put in _control_out
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void speed_ramp(int16_t rotor_target);
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// update_speed_estimate - function to estimate speed
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void update_speed_estimate();
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// write_rsc - outputs pwm onto output rsc channel. servo_out parameter is of the range 0 ~ 1000
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void write_rsc(int16_t servo_out);
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};
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#endif // AP_MOTORS_HELI_RSC_H
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