mirror of https://github.com/ArduPilot/ardupilot
94 lines
4.7 KiB
C++
94 lines
4.7 KiB
C++
/// @file AP_MotorsMatrix.h
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/// @brief Motor control class for Matrixcopters
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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 <RC_Channel/RC_Channel.h> // RC Channel Library
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#include "AP_MotorsMulticopter.h"
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#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1
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#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1
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/// @class AP_MotorsMatrix
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class AP_MotorsMatrix : public AP_MotorsMulticopter {
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public:
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/// Constructor
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AP_MotorsMatrix(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
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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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// you must have setup_motors before calling this
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void set_update_rate(uint16_t speed_hz) override;
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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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// output_test_num - spin a motor connected to the specified output channel
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// (should only be performed during testing)
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// If a motor output channel is remapped, the mapped channel is used.
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// Returns true if motor output is set, false otherwise
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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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bool output_test_num(uint8_t motor, int16_t pwm);
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// output_to_motors - sends minimum values out to the motors
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void output_to_motors() override;
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// get_motor_mask - returns a bitmask of which outputs are being used for motors (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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uint16_t get_motor_mask() override;
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// return number of motor that has failed. Should only be called if get_thrust_boost() returns true
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uint8_t get_lost_motor() const override { return _motor_lost_index; }
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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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// check for failed motor
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void check_for_failed_motor(float throttle_thrust_best);
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// add_motor using raw roll, pitch, throttle and yaw factors
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void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
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// add_motor using just position and yaw_factor (or prop direction)
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void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order);
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// add_motor using separate roll and pitch factors (for asymmetrical frames) and prop direction
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void add_motor(int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order);
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// remove_motor
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void remove_motor(int8_t motor_num);
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// configures the motors for the defined frame_class and frame_type
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virtual void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type);
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// normalizes the roll, pitch and yaw factors so maximum magnitude is 0.5
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void normalise_rpy_factors();
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// call vehicle supplied thrust compensation if set
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void thrust_compensation(void) override;
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float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
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float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
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float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
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float _thrust_rpyt_out[AP_MOTORS_MAX_NUM_MOTORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
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uint8_t _test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
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motor_frame_class _last_frame_class; // most recently requested frame class (i.e. quad, hexa, octa, etc)
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motor_frame_type _last_frame_type; // most recently requested frame type (i.e. plus, x, v, etc)
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// motor failure handling
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float _thrust_rpyt_out_filt[AP_MOTORS_MAX_NUM_MOTORS]; // filtered thrust outputs with 1 second time constant
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uint8_t _motor_lost_index; // index number of the lost motor
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};
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