mirror of https://github.com/ArduPilot/ardupilot
192 lines
7.6 KiB
C++
192 lines
7.6 KiB
C++
/*
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* AP_MotorsTri.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include "AP_MotorsTri.h"
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extern const AP_HAL::HAL& hal;
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// init
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void AP_MotorsTri::Init()
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{
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// call parent Init function to set-up throttle curve
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AP_Motors::Init();
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// set update rate for the 3 motors (but not the servo on channel 7)
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set_update_rate(_speed_hz);
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}
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// set update rate to motors - a value in hertz
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void AP_MotorsTri::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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// set update rate for the 3 motors (but not the servo on channel 7)
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uint32_t mask =
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1U << _motor_to_channel_map[AP_MOTORS_MOT_1] |
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1U << _motor_to_channel_map[AP_MOTORS_MOT_2] |
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1U << _motor_to_channel_map[AP_MOTORS_MOT_4];
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hal.rcout->set_freq(mask, _speed_hz);
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}
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// enable - starts allowing signals to be sent to motors
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void AP_MotorsTri::enable()
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{
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// enable output channels
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_1]);
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_2]);
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_4]);
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hal.rcout->enable_ch(AP_MOTORS_CH_TRI_YAW);
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}
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// output_min - sends minimum values out to the motors
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void AP_MotorsTri::output_min()
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{
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// fill the motor_out[] array for HIL use
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motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min;
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motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min;
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
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// send minimum value to each motor
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw->radio_trim);
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}
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// output_armed - sends commands to the motors
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void AP_MotorsTri::output_armed()
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{
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int16_t out_min = _rc_throttle->radio_min;
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int16_t out_max = _rc_throttle->radio_max;
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// Throttle is 0 to 1000 only
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_rc_throttle->servo_out = constrain(_rc_throttle->servo_out, 0, _max_throttle);
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if(_rc_throttle->servo_out > 0)
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out_min = _rc_throttle->radio_min + _min_throttle;
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// capture desired roll, pitch, yaw and throttle from receiver
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_rc_roll->calc_pwm();
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_rc_pitch->calc_pwm();
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_rc_throttle->calc_pwm();
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_rc_yaw->calc_pwm();
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int roll_out = (float)_rc_roll->pwm_out * 0.866f;
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int pitch_out = _rc_pitch->pwm_out / 2;
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//left front
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motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out;
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//right front
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motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_out - roll_out + pitch_out;
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// rear
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_out - _rc_pitch->pwm_out;
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// Tridge's stability patch
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if(motor_out[AP_MOTORS_MOT_1] > out_max) {
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motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
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motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1;
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motor_out[AP_MOTORS_MOT_1] = out_max;
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}
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if(motor_out[AP_MOTORS_MOT_2] > out_max) {
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motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
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motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1;
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motor_out[AP_MOTORS_MOT_2] = out_max;
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}
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if(motor_out[AP_MOTORS_MOT_4] > out_max) {
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motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
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motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1;
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motor_out[AP_MOTORS_MOT_4] = out_max;
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}
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// adjust for throttle curve
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if( _throttle_curve_enabled ) {
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motor_out[AP_MOTORS_MOT_1] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_1]);
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motor_out[AP_MOTORS_MOT_2] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_2]);
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motor_out[AP_MOTORS_MOT_4] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_4]);
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}
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// ensure motors don't drop below a minimum value and stop
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motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], out_min);
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motor_out[AP_MOTORS_MOT_2] = max(motor_out[AP_MOTORS_MOT_2], out_min);
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motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], 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(_rc_throttle->servo_out == 0) {
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motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min;
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motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min;
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min;
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}
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#endif
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// send output to each motor
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
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// also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value)
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// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner
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// note: we use _rc_tail's (aka channel 7's) REV parameter to control whether the servo is reversed or not but this is a bit nonsensical.
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// a separate servo object (including min, max settings etc) would be better or at least a separate parameter to specify the direction of the tail servo
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if( _rc_tail->get_reverse() == true ) {
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hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim));
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}else{
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hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out);
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}
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}
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// output_disarmed - sends commands to the motors
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void AP_MotorsTri::output_disarmed()
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{
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if(_rc_throttle->control_in > 0) {
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// we have pushed up the throttle
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// remove safety
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_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 = AP_MOTORS_MOT_1; i < AP_MOTORS_MOT_4; i++) {
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motor_out[i] = _rc_throttle->radio_min;
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}
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// Send minimum values to all motors
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output_min();
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}
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// output_disarmed - sends commands to the motors
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void AP_MotorsTri::output_test()
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{
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// Send minimum values to all motors
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output_min();
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min);
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hal.scheduler->delay(4000);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min + 100);
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hal.scheduler->delay(300);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min);
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hal.scheduler->delay(2000);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min + 100);
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hal.scheduler->delay(300);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min);
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hal.scheduler->delay(2000);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min + 100);
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hal.scheduler->delay(300);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]);
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]);
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}
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