mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.9 KiB
C++
76 lines
2.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @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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#ifndef __AP_MOTORS_COAX_H__
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#define __AP_MOTORS_COAX_H__
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#include <AP_Common.h>
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel.h> // RC Channel Library
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#include "AP_Motors.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 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_Motors {
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public:
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/// Constructor
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AP_MotorsCoax(RC_Channel& servo1, RC_Channel& servo2, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_Motors(loop_rate, speed_hz),
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_servo1(servo1),
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_servo2(servo2)
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{
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AP_Param::setup_object_defaults(this, var_info);
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};
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// init
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virtual void Init();
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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 );
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// enable - starts allowing signals to be sent to motors
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virtual void enable();
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// output_test - 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(uint8_t motor_seq, int16_t pwm);
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// output_min - sends minimum values out to the motors
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virtual void output_min();
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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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// for coax copter, output channels 1 to 4 are used
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virtual uint16_t get_motor_mask() { return 0x000F; }
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing();
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void output_armed_not_stabilizing();
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void output_disarmed();
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AP_Int8 _rev_roll; // REV Roll feedback
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AP_Int8 _rev_pitch; // REV pitch feedback
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AP_Int8 _rev_yaw; // REV yaw feedback
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AP_Int16 _servo_speed; // servo speed
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RC_Channel& _servo1;
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RC_Channel& _servo2;
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};
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#endif // AP_MOTORSCOAX
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