mirror of https://github.com/ArduPilot/ardupilot
64 lines
2.6 KiB
C++
64 lines
2.6 KiB
C++
/// @file AP_MotorsCoax.h
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/// @brief Motor and Servo control class for Co-axial helicopters with two motors and two flaps
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#pragma once
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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 "AP_MotorsMulticopter.h"
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// feedback direction
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#define AP_MOTORS_COAX_POSITIVE 1
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#define AP_MOTORS_COAX_NEGATIVE -1
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#define NUM_ACTUATORS 4
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#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
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#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
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#define AP_MOTORS_COAX_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
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/// @class AP_MotorsSingle
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class AP_MotorsCoax : public AP_MotorsMulticopter {
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public:
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/// Constructor
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AP_MotorsCoax(uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(speed_hz)
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{
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};
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// init
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void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
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// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
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void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
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// set update rate to motors - a value in hertz
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void set_update_rate( uint16_t speed_hz ) override;
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// output_to_motors - sends minimum values out to the motors
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virtual void output_to_motors() override;
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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 get_motor_mask() override;
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// Run arming checks
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bool arming_checks(size_t buflen, char *buffer) const override { return AP_Motors::arming_checks(buflen, buffer); }
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing() override;
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float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
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float _thrust_yt_ccw;
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float _thrust_yt_cw;
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const char* _get_frame_string() const override { return "COAX"; }
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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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virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
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};
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