mirror of https://github.com/ArduPilot/ardupilot
254 lines
10 KiB
C++
254 lines
10 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_Math/AP_Math.h>
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#include "AP_MotorsCoax.h"
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#include <GCS_MAVLink/GCS.h>
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#include <SRV_Channel/SRV_Channel.h>
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extern const AP_HAL::HAL& hal;
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// init
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void AP_MotorsCoax::init(motor_frame_class frame_class, motor_frame_type frame_type)
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{
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// make sure 6 output channels are mapped
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for (uint8_t i = 0; i < 6; i++) {
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add_motor_num(CH_1 + i);
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}
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// set the motor_enabled flag so that the main ESC can be calibrated like other frame types
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motor_enabled[AP_MOTORS_MOT_5] = true;
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motor_enabled[AP_MOTORS_MOT_6] = true;
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// setup actuator scaling
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for (uint8_t i = 0; i < NUM_ACTUATORS; i++) {
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SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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}
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_mav_type = MAV_TYPE_COAXIAL;
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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_COAX);
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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_MotorsCoax::set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type)
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{
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set_initialised_ok(frame_class == MOTOR_FRAME_COAX);
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}
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// set update rate to motors - a value in hertz
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void AP_MotorsCoax::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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uint32_t mask =
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1U << AP_MOTORS_MOT_5 |
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1U << AP_MOTORS_MOT_6 ;
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rc_set_freq(mask, _speed_hz);
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}
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void AP_MotorsCoax::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_angle(AP_MOTORS_MOT_1, _roll_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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rc_write_angle(AP_MOTORS_MOT_2, _pitch_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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rc_write_angle(AP_MOTORS_MOT_3, -_roll_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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rc_write_angle(AP_MOTORS_MOT_4, -_pitch_radio_passthrough * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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rc_write(AP_MOTORS_MOT_5, output_to_pwm(0));
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rc_write(AP_MOTORS_MOT_6, output_to_pwm(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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for (uint8_t i = 0; i < NUM_ACTUATORS; i++) {
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rc_write_angle(AP_MOTORS_MOT_1 + i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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}
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set_actuator_with_slew(_actuator[AP_MOTORS_MOT_5], actuator_spin_up_to_ground_idle());
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set_actuator_with_slew(_actuator[AP_MOTORS_MOT_6], actuator_spin_up_to_ground_idle());
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rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[AP_MOTORS_MOT_5]));
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rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[AP_MOTORS_MOT_6]));
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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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for (uint8_t i = 0; i < NUM_ACTUATORS; i++) {
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rc_write_angle(AP_MOTORS_MOT_1 + i, _actuator_out[i] * AP_MOTORS_COAX_SERVO_INPUT_RANGE);
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}
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set_actuator_with_slew(_actuator[AP_MOTORS_MOT_5], thr_lin.thrust_to_actuator(_thrust_yt_ccw));
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set_actuator_with_slew(_actuator[AP_MOTORS_MOT_6], thr_lin.thrust_to_actuator(_thrust_yt_cw));
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rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[AP_MOTORS_MOT_5]));
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rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[AP_MOTORS_MOT_6]));
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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_MotorsCoax::get_motor_mask()
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{
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uint32_t motor_mask =
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1U << AP_MOTORS_MOT_5 |
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1U << AP_MOTORS_MOT_6;
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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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// sends commands to the motors
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void AP_MotorsCoax::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 thrust_min_rpy; // the minimum throttle setting that will not limit the roll and pitch output
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float thr_adj; // the difference between the pilot's desired throttle and throttle_thrust_best_rpy
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float thrust_out; //
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float rp_scale = 1.0f; // this is used to scale the roll, pitch and yaw to fit within the motor limits
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float actuator_allowed = 0.0f; // amount of yaw we can fit in
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// apply voltage and air pressure compensation
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const float compensation_gain = thr_lin.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;
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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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// 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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float rp_thrust_max = MAX(fabsf(roll_thrust), fabsf(pitch_thrust));
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// calculate how much roll and pitch must be scaled to leave enough range for the minimum yaw
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if (is_zero(rp_thrust_max)) {
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rp_scale = 1.0f;
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} else {
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rp_scale = constrain_float((1.0f - MIN(fabsf(yaw_thrust), 0.5f * (float)_yaw_headroom * 0.001f)) / rp_thrust_max, 0.0f, 1.0f);
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if (rp_scale < 1.0f) {
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limit.roll = true;
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limit.pitch = true;
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}
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}
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actuator_allowed = 2.0f * (1.0f - rp_scale * rp_thrust_max);
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if (fabsf(yaw_thrust) > actuator_allowed) {
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yaw_thrust = constrain_float(yaw_thrust, -actuator_allowed, actuator_allowed);
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limit.yaw = true;
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}
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// calculate the minimum thrust that doesn't limit the roll, pitch and yaw forces
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thrust_min_rpy = MAX(fabsf(rp_scale * rp_thrust_max), fabsf(yaw_thrust));
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thr_adj = throttle_thrust - throttle_avg_max;
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if (thr_adj < (thrust_min_rpy - throttle_avg_max)) {
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// Throttle can't be reduced to the desired level because this would reduce airflow over
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// the control surfaces preventing roll and pitch reaching the desired level.
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thr_adj = MIN(thrust_min_rpy, throttle_avg_max) - throttle_avg_max;
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}
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// calculate the throttle setting for the lift fan
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thrust_out = throttle_avg_max + thr_adj;
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// compensation_gain can never be zero
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_throttle_out = thrust_out / compensation_gain;
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if (fabsf(yaw_thrust) > thrust_out) {
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yaw_thrust = constrain_float(yaw_thrust, -thrust_out, thrust_out);
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limit.yaw = true;
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}
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_thrust_yt_ccw = thrust_out + 0.5f * yaw_thrust;
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_thrust_yt_cw = thrust_out - 0.5f * yaw_thrust;
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// limit thrust out for calculation of actuator gains
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float thrust_out_actuator = constrain_float(MAX(_throttle_hover * 0.5f, thrust_out), 0.5f, 1.0f);
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if (is_zero(thrust_out)) {
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limit.roll = true;
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limit.pitch = true;
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}
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// force of a lifting surface is approximately equal to the angle of attack times the airflow velocity squared
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// static thrust is proportional to the airflow velocity squared
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// therefore the torque of the roll and pitch actuators should be approximately proportional to
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// the angle of attack multiplied by the static thrust.
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_actuator_out[0] = roll_thrust / thrust_out_actuator;
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_actuator_out[1] = pitch_thrust / thrust_out_actuator;
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if (fabsf(_actuator_out[0]) > 1.0f) {
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limit.roll = true;
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_actuator_out[0] = constrain_float(_actuator_out[0], -1.0f, 1.0f);
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}
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if (fabsf(_actuator_out[1]) > 1.0f) {
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limit.pitch = true;
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_actuator_out[1] = constrain_float(_actuator_out[1], -1.0f, 1.0f);
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}
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_actuator_out[2] = -_actuator_out[0];
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_actuator_out[3] = -_actuator_out[1];
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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_MotorsCoax::_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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// flap servo 1
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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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// flap servo 2
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rc_write(AP_MOTORS_MOT_2, pwm);
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break;
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case 3:
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// flap servo 3
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rc_write(AP_MOTORS_MOT_3, pwm);
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break;
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case 4:
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// flap servo 4
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rc_write(AP_MOTORS_MOT_4, pwm);
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break;
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case 5:
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// motor 1
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rc_write(AP_MOTORS_MOT_5, pwm);
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break;
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case 6:
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// motor 2
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rc_write(AP_MOTORS_MOT_6, 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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