mirror of https://github.com/ArduPilot/ardupilot
224 lines
10 KiB
C++
224 lines
10 KiB
C++
#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 <AP_Notify/AP_Notify.h> // Notify library
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#include <SRV_Channel/SRV_Channel.h>
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#include <Filter/Filter.h> // filter library
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// offsets for motors in motor_out and _motor_filtered arrays
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#define AP_MOTORS_MOT_1 0U
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#define AP_MOTORS_MOT_2 1U
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#define AP_MOTORS_MOT_3 2U
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#define AP_MOTORS_MOT_4 3U
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#define AP_MOTORS_MOT_5 4U
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#define AP_MOTORS_MOT_6 5U
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#define AP_MOTORS_MOT_7 6U
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#define AP_MOTORS_MOT_8 7U
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#define AP_MOTORS_MOT_9 8U
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#define AP_MOTORS_MOT_10 9U
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#define AP_MOTORS_MOT_11 10U
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#define AP_MOTORS_MOT_12 11U
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#define AP_MOTORS_MAX_NUM_MOTORS 12
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// motor update rate
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#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors
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/// @class AP_Motors
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class AP_Motors {
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public:
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enum motor_frame_class {
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MOTOR_FRAME_UNDEFINED = 0,
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MOTOR_FRAME_QUAD = 1,
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MOTOR_FRAME_HEXA = 2,
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MOTOR_FRAME_OCTA = 3,
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MOTOR_FRAME_OCTAQUAD = 4,
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MOTOR_FRAME_Y6 = 5,
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MOTOR_FRAME_HELI = 6,
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MOTOR_FRAME_TRI = 7,
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MOTOR_FRAME_SINGLE = 8,
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MOTOR_FRAME_COAX = 9,
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MOTOR_FRAME_TAILSITTER = 10,
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MOTOR_FRAME_HELI_DUAL = 11,
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MOTOR_FRAME_DODECAHEXA = 12,
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MOTOR_FRAME_HELI_QUAD = 13,
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};
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enum motor_frame_type {
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MOTOR_FRAME_TYPE_PLUS = 0,
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MOTOR_FRAME_TYPE_X = 1,
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MOTOR_FRAME_TYPE_V = 2,
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MOTOR_FRAME_TYPE_H = 3,
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MOTOR_FRAME_TYPE_VTAIL = 4,
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MOTOR_FRAME_TYPE_ATAIL = 5,
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MOTOR_FRAME_TYPE_Y6B = 10,
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MOTOR_FRAME_TYPE_Y6F = 11 // for FireFlyY6
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};
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// Constructor
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AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
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// singleton support
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static AP_Motors *get_instance(void) { return _instance; }
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// check initialisation succeeded
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bool initialised_ok() const { return _flags.initialised_ok; }
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// arm, disarm or check status status of motors
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bool armed() const { return _flags.armed; }
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void armed(bool arm);
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// set motor interlock status
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void set_interlock(bool set) { _flags.interlock = set;}
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// get motor interlock status. true means motors run, false motors don't run
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bool get_interlock() const { return _flags.interlock; }
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// set_roll, set_pitch, set_yaw, set_throttle
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void set_roll(float roll_in) { _roll_in = roll_in; }; // range -1 ~ +1
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void set_pitch(float pitch_in) { _pitch_in = pitch_in; }; // range -1 ~ +1
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void set_yaw(float yaw_in) { _yaw_in = yaw_in; }; // range -1 ~ +1
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void set_throttle(float throttle_in) { _throttle_in = throttle_in; }; // range 0 ~ 1
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void set_throttle_avg_max(float throttle_avg_max) { _throttle_avg_max = constrain_float(throttle_avg_max,0.0f,1.0f); }; // range 0 ~ 1
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void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
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void set_forward(float forward_in) { _forward_in = forward_in; }; // range -1 ~ +1
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void set_lateral(float lateral_in) { _lateral_in = lateral_in; }; // range -1 ~ +1
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// accessors for roll, pitch, yaw and throttle inputs to motors
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float get_roll() const { return _roll_in; }
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float get_pitch() const { return _pitch_in; }
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float get_yaw() const { return _yaw_in; }
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float get_throttle() const { return constrain_float(_throttle_filter.get(),0.0f,1.0f); }
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float get_throttle_bidirectional() const { return constrain_float(2*(_throttle_filter.get()-0.5f),-1.0f,1.0f); }
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float get_forward() const { return _forward_in; }
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float get_lateral() const { return _lateral_in; }
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virtual float get_throttle_hover() const = 0;
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// spool up states
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enum spool_up_down_desired {
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DESIRED_SHUT_DOWN = 0, // all motors stop
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DESIRED_SPIN_WHEN_ARMED = 1, // all motors at spin when armed
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DESIRED_THROTTLE_UNLIMITED = 2, // motors are no longer constrained by start up procedure
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};
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virtual void set_desired_spool_state(enum spool_up_down_desired spool) { _spool_desired = spool; };
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enum spool_up_down_desired get_desired_spool_state(void) const { return _spool_desired; }
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// set_density_ratio - sets air density as a proportion of sea level density
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void set_air_density_ratio(float ratio) { _air_density_ratio = ratio; }
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// structure for holding motor limit flags
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struct AP_Motors_limit {
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uint8_t roll_pitch : 1; // we have reached roll or pitch limit
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uint8_t yaw : 1; // we have reached yaw limit
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uint8_t throttle_lower : 1; // we have reached throttle's lower limit
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uint8_t throttle_upper : 1; // we have reached throttle's upper limit
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} limit;
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//
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// virtual functions that should be implemented by child classes
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//
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// set update rate to motors - a value in hertz
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virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; }
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// init
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virtual void init(motor_frame_class frame_class, motor_frame_type frame_type) = 0;
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// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
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virtual void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) = 0;
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// output - sends commands to the motors
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virtual void output() = 0;
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// output_min - sends minimum values out to the motors
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virtual void output_min() = 0;
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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) = 0;
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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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virtual uint16_t get_motor_mask() = 0;
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// pilot input in the -1 ~ +1 range for roll, pitch and yaw. 0~1 range for throttle
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void set_radio_passthrough(float roll_input, float pitch_input, float throttle_input, float yaw_input);
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// set loop rate. Used to support loop rate as a parameter
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void set_loop_rate(uint16_t loop_rate) { _loop_rate = loop_rate; }
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enum pwm_type { PWM_TYPE_NORMAL = 0,
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PWM_TYPE_ONESHOT = 1,
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PWM_TYPE_ONESHOT125 = 2,
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PWM_TYPE_BRUSHED = 3,
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PWM_TYPE_DSHOT150 = 4,
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PWM_TYPE_DSHOT300 = 5,
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PWM_TYPE_DSHOT600 = 6,
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PWM_TYPE_DSHOT1200 = 7};
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pwm_type get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); }
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protected:
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// output functions that should be overloaded by child classes
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virtual void output_armed_stabilizing()=0;
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virtual void rc_write(uint8_t chan, uint16_t pwm);
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virtual void rc_write_angle(uint8_t chan, int16_t angle_cd);
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virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz);
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virtual uint32_t rc_map_mask(uint32_t mask) const;
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// add a motor to the motor map
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void add_motor_num(int8_t motor_num);
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// update the throttle input filter
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virtual void update_throttle_filter() = 0;
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// save parameters as part of disarming
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virtual void save_params_on_disarm() {}
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// convert input in -1 to +1 range to pwm output
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int16_t calc_pwm_output_1to1(float input, const SRV_Channel *servo);
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// convert input in 0 to +1 range to pwm output
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int16_t calc_pwm_output_0to1(float input, const SRV_Channel *servo);
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// flag bitmask
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struct AP_Motors_flags {
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uint8_t armed : 1; // 0 if disarmed, 1 if armed
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uint8_t interlock : 1; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run)
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uint8_t initialised_ok : 1; // 1 if initialisation was successful
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} _flags;
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// internal variables
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uint16_t _loop_rate; // rate in Hz at which output() function is called (normally 400hz)
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uint16_t _speed_hz; // speed in hz to send updates to motors
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float _roll_in; // desired roll control from attitude controllers, -1 ~ +1
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float _pitch_in; // desired pitch control from attitude controller, -1 ~ +1
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float _yaw_in; // desired yaw control from attitude controller, -1 ~ +1
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float _throttle_in; // last throttle input from set_throttle caller
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float _forward_in; // last forward input from set_forward caller
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float _lateral_in; // last lateral input from set_lateral caller
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float _throttle_avg_max; // last throttle input from set_throttle_avg_max
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LowPassFilterFloat _throttle_filter; // throttle input filter
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spool_up_down_desired _spool_desired; // desired spool state
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// air pressure compensation variables
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float _air_density_ratio; // air density / sea level density - decreases in altitude
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// mask of what channels need fast output
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uint16_t _motor_fast_mask;
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// pass through variables
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float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
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float _pitch_radio_passthrough; // pitch input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
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float _throttle_radio_passthrough; // throttle/collective input from pilot in 0 ~ 1 range. used for setup and providing servo feedback while landed
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float _yaw_radio_passthrough; // yaw input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
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AP_Int8 _pwm_type; // PWM output type
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private:
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static AP_Motors *_instance;
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};
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