mirror of https://github.com/ArduPilot/ardupilot
182 lines
7.7 KiB
C++
182 lines
7.7 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
|
|
|
#ifndef __AP_MOTORS_CLASS_H__
|
|
#define __AP_MOTORS_CLASS_H__
|
|
|
|
#include <AP_Common.h>
|
|
#include <AP_Progmem.h>
|
|
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
|
|
#include <RC_Channel.h> // RC Channel Library
|
|
|
|
// offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays
|
|
#define AP_MOTORS_MOT_1 0
|
|
#define AP_MOTORS_MOT_2 1
|
|
#define AP_MOTORS_MOT_3 2
|
|
#define AP_MOTORS_MOT_4 3
|
|
#define AP_MOTORS_MOT_5 4
|
|
#define AP_MOTORS_MOT_6 5
|
|
#define AP_MOTORS_MOT_7 6
|
|
#define AP_MOTORS_MOT_8 7
|
|
|
|
#define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_7,CH_8,CH_10,CH_11
|
|
#define APM2_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7,CH_8
|
|
|
|
#define AP_MOTORS_MAX_NUM_MOTORS 8
|
|
|
|
#define AP_MOTORS_DEFAULT_MIN_THROTTLE 130
|
|
#define AP_MOTORS_DEFAULT_MAX_THROTTLE 850
|
|
|
|
// APM board definitions
|
|
#define AP_MOTORS_APM1 1
|
|
#define AP_MOTORS_APM2 2
|
|
|
|
// frame definitions
|
|
#define AP_MOTORS_PLUS_FRAME 0
|
|
#define AP_MOTORS_X_FRAME 1
|
|
#define AP_MOTORS_V_FRAME 2
|
|
|
|
// motor update rate
|
|
#define AP_MOTORS_SPEED_DEFAULT 490
|
|
|
|
// top-bottom ratio (for Y6)
|
|
#define AP_MOTORS_TOP_BOTTOM_RATIO 1.0
|
|
|
|
#define THROTTLE_CURVE_ENABLED 1 // throttle curve disabled by default
|
|
#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
|
|
#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100)
|
|
|
|
// bit mask for recording which limits we have reached when outputting to motors
|
|
#define AP_MOTOR_NO_LIMITS_REACHED 0x00
|
|
#define AP_MOTOR_ROLLPITCH_LIMIT 0x01
|
|
#define AP_MOTOR_YAW_LIMIT 0x02
|
|
#define AP_MOTOR_THROTTLE_LIMIT 0x04
|
|
#define AP_MOTOR_ANY_LIMIT 0xFF
|
|
|
|
/// @class AP_Motors
|
|
class AP_Motors {
|
|
public:
|
|
|
|
// Constructor
|
|
AP_Motors( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
|
|
|
|
// init
|
|
virtual void Init();
|
|
|
|
// set mapping from motor number to RC channel
|
|
virtual void set_motor_to_channel_map( uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t mot_4, uint8_t mot_5, uint8_t mot_6, uint8_t mot_7, uint8_t mot_8 ) {
|
|
_motor_to_channel_map[AP_MOTORS_MOT_1] = mot_1;
|
|
_motor_to_channel_map[AP_MOTORS_MOT_2] = mot_2;
|
|
_motor_to_channel_map[AP_MOTORS_MOT_3] = mot_3;
|
|
_motor_to_channel_map[AP_MOTORS_MOT_4] = mot_4;
|
|
_motor_to_channel_map[AP_MOTORS_MOT_5] = mot_5;
|
|
_motor_to_channel_map[AP_MOTORS_MOT_6] = mot_6;
|
|
_motor_to_channel_map[AP_MOTORS_MOT_7] = mot_7;
|
|
_motor_to_channel_map[AP_MOTORS_MOT_8] = mot_8;
|
|
}
|
|
|
|
// set update rate to motors - a value in hertz
|
|
virtual void set_update_rate( uint16_t speed_hz ) {
|
|
_speed_hz = speed_hz;
|
|
};
|
|
|
|
// set frame orientation (normally + or X)
|
|
virtual void set_frame_orientation( uint8_t new_orientation ) {
|
|
_frame_orientation = new_orientation;
|
|
};
|
|
|
|
// enable - starts allowing signals to be sent to motors
|
|
virtual void enable() {
|
|
};
|
|
|
|
// arm, disarm or check status status of motors
|
|
virtual bool armed() {
|
|
return _armed;
|
|
};
|
|
virtual void armed(bool arm) {
|
|
_armed = arm;
|
|
};
|
|
|
|
// check or set status of auto_armed - controls whether autopilot can take control of throttle
|
|
// Note: this should probably be moved out of this class as it has little to do with the motors
|
|
virtual bool auto_armed() {
|
|
return _auto_armed;
|
|
};
|
|
virtual void auto_armed(bool arm) {
|
|
_auto_armed = arm;
|
|
};
|
|
|
|
// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
|
|
virtual void set_min_throttle(uint16_t min_throttle) {
|
|
_min_throttle = min_throttle;
|
|
};
|
|
virtual void set_max_throttle(uint16_t max_throttle) {
|
|
_max_throttle = max_throttle;
|
|
};
|
|
|
|
// output - sends commands to the motors
|
|
virtual void output() {
|
|
if( _armed && _auto_armed ) { output_armed(); }else{ output_disarmed(); }
|
|
};
|
|
|
|
// output_min - sends minimum values out to the motors
|
|
virtual void output_min() {
|
|
};
|
|
|
|
// reached_limits - return whether we hit the limits of the motors
|
|
virtual uint8_t reached_limit( uint8_t which_limit = AP_MOTOR_ANY_LIMIT ) {
|
|
return _reached_limit & which_limit;
|
|
}
|
|
|
|
// get basic information about the platform
|
|
virtual uint8_t get_num_motors() {
|
|
return 0;
|
|
};
|
|
|
|
// motor test
|
|
virtual void output_test() {
|
|
};
|
|
|
|
// throttle_pass_through - passes throttle through to motors - dangerous but required for initialising ESCs
|
|
virtual void throttle_pass_through();
|
|
|
|
// setup_throttle_curve - used to linearlise thrust output by motors
|
|
// returns true if curve is created successfully
|
|
virtual bool setup_throttle_curve();
|
|
|
|
// 1 if motor is enabled, 0 otherwise
|
|
AP_Int8 motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
|
|
|
|
// final output values sent to the motors. public (for now) so that they can be access for logging
|
|
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];
|
|
|
|
// power ratio of upper vs lower motors (only used by y6 and octa quad copters)
|
|
AP_Float top_bottom_ratio;
|
|
|
|
// var_info for holding Parameter information
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
|
|
// output functions that should be overloaded by child classes
|
|
virtual void output_armed() {
|
|
};
|
|
virtual void output_disarmed() {
|
|
};
|
|
|
|
RC_Channel* _rc_roll, *_rc_pitch, *_rc_throttle, *_rc_yaw; // input in from users
|
|
uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS]; // mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2
|
|
uint16_t _speed_hz; // speed in hz to send updates to motors
|
|
bool _armed; // true if motors are armed
|
|
bool _auto_armed; // true is throttle is above zero, allows auto pilot to take control of throttle
|
|
uint8_t _frame_orientation; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2
|
|
int16_t _min_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
|
|
int16_t _max_throttle; // the minimum throttle to be sent to the engines when they're on (prevents issues with some motors on while other off at very low throttle)
|
|
AP_CurveInt16_Size4 _throttle_curve; // curve used to linearize the pwm->thrust
|
|
AP_Int8 _throttle_curve_enabled; // enable throttle curve
|
|
AP_Int8 _throttle_curve_mid; // throttle which produces 1/2 the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
|
|
AP_Int8 _throttle_curve_max; // throttle which produces the maximum thrust. expressed as a percentage (i.e. 0 ~ 100 ) of the full throttle range
|
|
uint8_t _reached_limit; // bit mask to record which motor limits we hit (if any) during most recent output. Used to provide feedback to attitude controllers
|
|
};
|
|
#endif // __AP_MOTORS_CLASS_H__
|