mirror of https://github.com/ArduPilot/ardupilot
197 lines
6.0 KiB
Plaintext
197 lines
6.0 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == OCTA_QUAD_FRAME
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static void init_motors_out()
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{
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#if INSTANT_PWM == 0
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ICR5 = 5000; // 400 hz output CH 1, 2, 9
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ICR1 = 5000; // 400 hz output CH 3, 4, 10
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ICR3 = 5000; // 400 hz output CH 7, 8, 11
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#endif
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}
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static void output_motors_armed()
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{
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int roll_out, pitch_out;
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000);
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if(g.rc_3.servo_out > 0)
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out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
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g.rc_1.calc_pwm();
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g.rc_2.calc_pwm();
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g.rc_3.calc_pwm();
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g.rc_4.calc_pwm();
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if(g.frame_orientation == X_FRAME){
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roll_out = (float)g.rc_1.pwm_out * .707;
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pitch_out = (float)g.rc_2.pwm_out * .707;
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// Front Left
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motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
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motor_out[CH_8] = g.rc_3.radio_out + roll_out + pitch_out; // CW
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// Front Right
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motor_out[CH_10] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
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motor_out[CH_11] = g.rc_3.radio_out - roll_out + pitch_out; // CW
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// Back Left
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motor_out[CH_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP
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motor_out[CH_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW
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// Back Right
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motor_out[CH_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP
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motor_out[CH_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW
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}if(g.frame_orientation == PLUS_FRAME){
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roll_out = g.rc_1.pwm_out;
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pitch_out = g.rc_2.pwm_out;
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// Left
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motor_out[CH_7] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP
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motor_out[CH_8] = g.rc_3.radio_out - roll_out; // CW
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// Right
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motor_out[CH_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP
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motor_out[CH_2] = g.rc_3.radio_out + roll_out; // CW
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// Front
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motor_out[CH_10] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP
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motor_out[CH_11] = g.rc_3.radio_out + pitch_out; // CW
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// Back
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motor_out[CH_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP
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motor_out[CH_4] = g.rc_3.radio_out - pitch_out; // CW
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}
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// Yaw
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motor_out[CH_1] += g.rc_4.pwm_out; // CCW
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motor_out[CH_3] += g.rc_4.pwm_out; // CCW
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motor_out[CH_7] += g.rc_4.pwm_out; // CCW
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motor_out[CH_10] += g.rc_4.pwm_out; // CCW
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motor_out[CH_2] -= g.rc_4.pwm_out; // CW
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motor_out[CH_4] -= g.rc_4.pwm_out; // CW
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motor_out[CH_8] -= g.rc_4.pwm_out; // CW
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motor_out[CH_11] -= g.rc_4.pwm_out; // CW
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// TODO add stability patch
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motor_out[CH_1] = min(motor_out[CH_1], out_max);
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motor_out[CH_2] = min(motor_out[CH_2], out_max);
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motor_out[CH_3] = min(motor_out[CH_3], out_max);
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motor_out[CH_4] = min(motor_out[CH_4], out_max);
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motor_out[CH_7] = min(motor_out[CH_7], out_max);
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motor_out[CH_8] = min(motor_out[CH_8], out_max);
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motor_out[CH_10] = min(motor_out[CH_10], out_max);
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motor_out[CH_11] = min(motor_out[CH_11], out_max);
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// limit output so motors don't stop
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motor_out[CH_1] = max(motor_out[CH_1], out_min);
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motor_out[CH_2] = max(motor_out[CH_2], out_min);
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motor_out[CH_3] = max(motor_out[CH_3], out_min);
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motor_out[CH_4] = max(motor_out[CH_4], out_min);
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motor_out[CH_7] = max(motor_out[CH_7], out_min);
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motor_out[CH_8] = max(motor_out[CH_8], out_min);
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motor_out[CH_10] = max(motor_out[CH_10], out_min);
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motor_out[CH_11] = max(motor_out[CH_11], out_min);
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#if CUT_MOTORS == ENABLED
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// if we are not sending a throttle output, we cut the motors
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if(g.rc_3.servo_out == 0){
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motor_out[CH_1] = g.rc_3.radio_min;
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motor_out[CH_2] = g.rc_3.radio_min;
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motor_out[CH_3] = g.rc_3.radio_min;
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motor_out[CH_4] = g.rc_3.radio_min;
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motor_out[CH_7] = g.rc_3.radio_min;
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motor_out[CH_8] = g.rc_3.radio_min;
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motor_out[CH_10] = g.rc_3.radio_min;
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motor_out[CH_11] = g.rc_3.radio_min;
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}
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#endif
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APM_RC.OutputCh(CH_1, motor_out[CH_1]);
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APM_RC.OutputCh(CH_2, motor_out[CH_2]);
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APM_RC.OutputCh(CH_3, motor_out[CH_3]);
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APM_RC.OutputCh(CH_4, motor_out[CH_4]);
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APM_RC.OutputCh(CH_7, motor_out[CH_7]);
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APM_RC.OutputCh(CH_8, motor_out[CH_8]);
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APM_RC.OutputCh(CH_10, motor_out[CH_10]);
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APM_RC.OutputCh(CH_11, motor_out[CH_11]);
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#if INSTANT_PWM == 1
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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APM_RC.Force_Out6_Out7();
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#endif
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}
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static void output_motors_disarmed()
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{
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if(g.rc_3.control_in > 0){
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// we have pushed up the throttle
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// remove safety
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motor_auto_armed = true;
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}
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// fill the motor_out[] array for HIL use
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for (unsigned char i = 0; i < 11; i++) {
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motor_out[i] = g.rc_3.radio_min;
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}
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// Send commands to motors
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
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}
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static void output_motor_test()
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{
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_10, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_11, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_1, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100);
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delay(1000);
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APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
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APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100);
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delay(1000);
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}
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#endif
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