mirror of https://github.com/ArduPilot/ardupilot
122 lines
4.1 KiB
C++
122 lines
4.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_MotorsTailsitter.cpp - ArduCopter motors library for tailsitters
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*
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_MotorsTailsitter.h"
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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#define SERVO_OUTPUT_RANGE 4500
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#define THROTTLE_RANGE 100
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// init
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void AP_MotorsTailsitter::init(motor_frame_class frame_class, motor_frame_type frame_type)
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{
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// record successful initialisation if what we setup was the desired frame_class
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_flags.initialised_ok = (frame_class == MOTOR_FRAME_TAILSITTER);
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}
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/// Constructor
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AP_MotorsTailsitter::AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
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{
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SRV_Channels::set_rc_frequency(SRV_Channel::k_throttleLeft, speed_hz);
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SRV_Channels::set_rc_frequency(SRV_Channel::k_throttleRight, speed_hz);
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}
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void AP_MotorsTailsitter::output_to_motors()
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{
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if (!_flags.initialised_ok) {
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return;
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}
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float throttle_left = 0;
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float throttle_right = 0;
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switch (_spool_mode) {
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case SHUT_DOWN:
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_throttle = 0;
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// set limits flags
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limit.roll_pitch = true;
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limit.yaw = true;
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limit.throttle_lower = true;
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limit.throttle_upper = true;
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break;
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case SPIN_WHEN_ARMED:
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// sends output to motors when armed but not flying
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_throttle = constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
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// set limits flags
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limit.roll_pitch = true;
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limit.yaw = true;
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limit.throttle_lower = true;
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limit.throttle_upper = true;
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break;
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case SPOOL_UP:
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case THROTTLE_UNLIMITED:
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case SPOOL_DOWN:
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throttle_left = constrain_float(_throttle + _rudder*0.5, 0, 1);
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throttle_right = constrain_float(_throttle - _rudder*0.5, 0, 1);
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// initialize limits flags
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limit.roll_pitch = false;
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limit.yaw = false;
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limit.throttle_lower = false;
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limit.throttle_upper = false;
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break;
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}
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// outputs are setup here, and written to the HAL by the plane servos loop
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SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, _aileron*SERVO_OUTPUT_RANGE);
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SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, _elevator*SERVO_OUTPUT_RANGE);
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SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, _rudder*SERVO_OUTPUT_RANGE);
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _throttle*THROTTLE_RANGE);
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// also support differential roll with twin motors
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left*THROTTLE_RANGE);
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_right*THROTTLE_RANGE);
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#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
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SRV_Channels::calc_pwm();
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SRV_Channels::output_ch_all();
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#endif
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}
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// calculate outputs to the motors
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void AP_MotorsTailsitter::output_armed_stabilizing()
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{
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_aileron = -_yaw_in;
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_elevator = _pitch_in;
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_rudder = _roll_in;
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_throttle = get_throttle();
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// sanity check throttle is above zero and below current limited throttle
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if (_throttle <= 0.0f) {
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_throttle = 0.0f;
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limit.throttle_lower = true;
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}
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if (_throttle >= _throttle_thrust_max) {
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_throttle = _throttle_thrust_max;
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limit.throttle_upper = true;
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}
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_throttle = constrain_float(_throttle, 0.1, 1);
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}
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