mirror of https://github.com/ArduPilot/ardupilot
355 lines
10 KiB
Plaintext
355 lines
10 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define ARM_DELAY 10
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#define DISARM_DELAY 10
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void arm_motors()
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{
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static byte arming_counter;
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// Arm motor output : Throttle down and full yaw right for more than 2 seconds
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if (g.rc_3.control_in == 0){
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// full right
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if (g.rc_4.control_in > 4000) {
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if (arming_counter >= ARM_DELAY) {
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motor_armed = true;
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arming_counter = ARM_DELAY;
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// Remember Orientation
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// ---------------------------
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init_simple_bearing();
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} else{
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arming_counter++;
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}
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// full left
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}else if (g.rc_4.control_in < -4000) {
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if (arming_counter >= DISARM_DELAY){
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motor_armed = false;
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arming_counter = DISARM_DELAY;
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}else{
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arming_counter++;
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}
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// centered
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}else{
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arming_counter = 0;
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}
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}else{
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arming_counter = 0;
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}
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}
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/*****************************************
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* Set the flight control servos based on the current calculated values
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*****************************************/
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void
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set_servos_4()
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{
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static byte num;
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int out_min;
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// Quadcopter mix
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if (motor_armed == true && motor_auto_safe == true) {
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out_min = g.rc_3.radio_min;
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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 + 90;
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//Serial.printf("out: %d %d %d %d\t\t", g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.servo_out, g.rc_4.servo_out);
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// creates the radio_out and pwm_out values
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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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// limit Yaw control so we don't clip and loose altitude
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// this is only a partial solution.
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// g.rc_4.pwm_out = min(g.rc_4.pwm_out, (g.rc_3.radio_out - out_min));
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//Serial.printf("out: %d %d %d %d\n", g.rc_1.radio_out, g.rc_2.radio_out, g.rc_3.radio_out, g.rc_4.radio_out);
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//Serial.printf("yaw: %d ", g.rc_4.radio_out);
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if(g.frame_type == PLUS_FRAME){
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//Serial.println("P_FRAME");
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motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out;
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motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out;
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motor_out[CH_3] = g.rc_3.radio_out + g.rc_2.pwm_out;
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motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
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motor_out[CH_1] += g.rc_4.pwm_out; // CCW
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motor_out[CH_2] += g.rc_4.pwm_out; // CCW
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motor_out[CH_3] -= g.rc_4.pwm_out; // CW
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motor_out[CH_4] -= g.rc_4.pwm_out; // CW
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}else if(g.frame_type == X_FRAME){
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//Serial.println("X_FRAME");
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int roll_out = g.rc_1.pwm_out * .707;
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int pitch_out = g.rc_2.pwm_out * .707;
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motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out;
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motor_out[CH_2] = g.rc_3.radio_out + roll_out - pitch_out;
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motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out;
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motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out;
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//Serial.printf("\tb4: %d %d %d %d ", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]);
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motor_out[CH_1] += g.rc_4.pwm_out; // CCW
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motor_out[CH_2] += g.rc_4.pwm_out; // CCW
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motor_out[CH_3] -= g.rc_4.pwm_out; // CW
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motor_out[CH_4] -= g.rc_4.pwm_out; // CW
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//Serial.printf("\tl8r: %d %d %d %d\n", motor_out[CH_1], motor_out[CH_2], motor_out[CH_3], motor_out[CH_4]);
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}else if(g.frame_type == TRI_FRAME){
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//Serial.println("TRI_FRAME");
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// Tri-copter power distribution
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int roll_out = (float)g.rc_1.pwm_out * .866;
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int pitch_out = g.rc_2.pwm_out / 2;
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//left front
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motor_out[CH_2] = g.rc_3.radio_out + roll_out + pitch_out;
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//right front
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motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out;
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// rear
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motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out;
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// this is a compensation for the angle of the yaw motor. Its linear, but should work ok.
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motor_out[CH_4] += (float)(abs(g.rc_4.control_in)) * .013;
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// servo Yaw
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APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
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}else if (g.frame_type == HEXAX_FRAME) {
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//Serial.println("6_FRAME");
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int roll_out = (float)g.rc_1.pwm_out * .866;
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int pitch_out = g.rc_2.pwm_out / 2;
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//left side
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motor_out[CH_2] = g.rc_3.radio_out + g.rc_1.pwm_out; // CCW
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motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
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motor_out[CH_8] = g.rc_3.radio_out + roll_out - pitch_out; // CW
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//right side
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motor_out[CH_1] = g.rc_3.radio_out - g.rc_1.pwm_out; // CW
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motor_out[CH_7] = g.rc_3.radio_out - roll_out + pitch_out; // CCW
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motor_out[CH_4] = g.rc_3.radio_out - roll_out - pitch_out; // CCW
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motor_out[CH_2] += 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_4] += g.rc_4.pwm_out; // CCW
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motor_out[CH_3] -= g.rc_4.pwm_out; // CW
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motor_out[CH_1] -= g.rc_4.pwm_out; // CW
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motor_out[CH_8] -= g.rc_4.pwm_out; // CW
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}else if (g.frame_type == Y6_FRAME) {
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//Serial.println("Y6_FRAME");
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int roll_out = (float)g.rc_1.pwm_out * .866;
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int pitch_out = g.rc_2.pwm_out / 2;
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//left
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motor_out[CH_2] = ((g.rc_3.radio_out * Y6_scaling) + roll_out + pitch_out); // CCW TOP
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motor_out[CH_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
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//right
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motor_out[CH_7] = ((g.rc_3.radio_out * Y6_scaling) - roll_out + pitch_out); // CCW TOP
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motor_out[CH_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
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//back
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motor_out[CH_8] = ((g.rc_3.radio_out * Y6_scaling) - g.rc_2.pwm_out); // CCW TOP
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motor_out[CH_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
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//yaw
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motor_out[CH_2] += 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_8] += g.rc_4.pwm_out; // CCW
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motor_out[CH_3] -= g.rc_4.pwm_out; // CW
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motor_out[CH_1] -= g.rc_4.pwm_out; // CW
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motor_out[CH_4] -= g.rc_4.pwm_out; // CW
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}else{
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//Serial.print("frame error");
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}
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// limit output so motors don't stop
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motor_out[CH_1] = constrain(motor_out[CH_1], out_min, g.rc_3.radio_max.get());
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motor_out[CH_2] = constrain(motor_out[CH_2], out_min, g.rc_3.radio_max.get());
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motor_out[CH_3] = constrain(motor_out[CH_3], out_min, g.rc_3.radio_max.get());
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motor_out[CH_4] = constrain(motor_out[CH_4], out_min, g.rc_3.radio_max.get());
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if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)) {
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motor_out[CH_7] = constrain(motor_out[CH_7], out_min, g.rc_3.radio_max.get());
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motor_out[CH_8] = constrain(motor_out[CH_8], out_min, g.rc_3.radio_max.get());
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}
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if (num++ > 25){
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num = 0;
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//Serial.print("kP: ");
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//Serial.println(g.pid_stabilize_roll.kP(),3);
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//*/
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/*
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Serial.printf("yaw: %d, lat_e: %ld, lng_e: %ld, \tnlat: %ld, nlng: %ld,\tnrll: %ld, nptc: %ld, \tcx: %.2f, sy: %.2f, \ttber: %ld, \tnber: %ld\n",
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(int)(dcm.yaw_sensor / 100),
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lat_error,
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long_error,
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nav_lat,
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nav_lon,
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nav_roll,
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nav_pitch,
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cos_yaw_x,
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sin_yaw_y,
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target_bearing,
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nav_bearing);
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//*/
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/*
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gcs_simple.write_byte(control_mode);
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//gcs_simple.write_int(motor_out[CH_1]);
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//gcs_simple.write_int(motor_out[CH_2]);
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//gcs_simple.write_int(motor_out[CH_3]);
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//gcs_simple.write_int(motor_out[CH_4]);
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gcs_simple.write_int(g.rc_3.servo_out);
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gcs_simple.write_int((int)(dcm.yaw_sensor / 100));
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gcs_simple.write_int((int)nav_lat);
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gcs_simple.write_int((int)nav_lon);
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gcs_simple.write_int((int)nav_roll);
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gcs_simple.write_int((int)nav_pitch);
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//gcs_simple.write_int((int)(cos_yaw_x * 100));
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//gcs_simple.write_int((int)(sin_yaw_y * 100));
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gcs_simple.write_long(current_loc.lat); //28
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gcs_simple.write_long(current_loc.lng); //32
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gcs_simple.write_int((int)current_loc.alt); //34
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gcs_simple.write_long(next_WP.lat);
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gcs_simple.write_long(next_WP.lng);
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gcs_simple.write_int((int)next_WP.alt); //44
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gcs_simple.write_int((int)(target_bearing / 100));
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gcs_simple.write_int((int)(nav_bearing / 100));
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gcs_simple.write_int((int)(nav_yaw / 100));
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if(altitude_sensor == BARO){
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gcs_simple.write_int((int)g.pid_baro_throttle.get_integrator());
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}else{
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gcs_simple.write_int((int)g.pid_sonar_throttle.get_integrator());
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}
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gcs_simple.write_int(g.throttle_cruise);
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gcs_simple.write_int(g.throttle_cruise);
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//24
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gcs_simple.flush(10); // Message ID
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//*/
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//Serial.printf("\n tb %d\n", (int)(target_bearing / 100));
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//Serial.printf("\n nb %d\n", (int)(nav_bearing / 100));
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//Serial.printf("\n dcm %d\n", (int)(dcm.yaw_sensor / 100));
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/*Serial.printf("a %ld, e %ld, i %d, t %d, b %4.2f\n",
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current_loc.alt,
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altitude_error,
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(int)g.pid_baro_throttle.get_integrator(),
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nav_throttle,
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angle_boost());
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*/
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}
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// Send commands to motors
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if(g.rc_3.servo_out > 0){
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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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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)) {
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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.Force_Out6_Out7();
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}
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}else{
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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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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)) {
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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.Force_Out6_Out7();
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}
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}
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}else{
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// our motor is unarmed, we're on the ground
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//reset_I();
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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_safe = 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 < 8; 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, 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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if ((g.frame_type == HEXAX_FRAME) || (g.frame_type == Y6_FRAME)){
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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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}
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// reset I terms of PID controls
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//reset_I();
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// Initialize yaw command to actual yaw when throttle is down...
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g.rc_4.control_in = ToDeg(dcm.yaw);
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}
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}
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