mirror of https://github.com/ArduPilot/ardupilot
176 lines
8.9 KiB
C++
176 lines
8.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#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_Notify.h> // Notify 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_MID_THROTTLE 500
|
|
#define AP_MOTORS_DEFAULT_MAX_THROTTLE 1000
|
|
|
|
// 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
|
|
#define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction
|
|
#define AP_MOTORS_NEW_PLUS_FRAME 10 // NEW frames are same as original 4 but with motor orders changed to be clockwise from the front
|
|
#define AP_MOTORS_NEW_X_FRAME 11
|
|
#define AP_MOTORS_NEW_V_FRAME 12
|
|
#define AP_MOTORS_NEW_H_FRAME 13 // same as X frame but motors spin in opposite direction
|
|
|
|
// motor update rate
|
|
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors
|
|
|
|
#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)
|
|
|
|
#define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed
|
|
|
|
// 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
|
|
|
|
// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds
|
|
#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 2 seconds)
|
|
#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second)
|
|
|
|
/// @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
|
|
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 ) { _flags.frame_orientation = new_orientation; };
|
|
|
|
// enable - starts allowing signals to be sent to motors
|
|
virtual void enable() = 0;
|
|
|
|
// arm, disarm or check status status of motors
|
|
bool armed() { return _flags.armed; };
|
|
void armed(bool 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)
|
|
void set_min_throttle(uint16_t min_throttle);
|
|
// set_mid_throttle - sets the mid throttle which is close to the hover throttle of the copter
|
|
// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control
|
|
void set_mid_throttle(uint16_t mid_throttle);
|
|
|
|
// output - sends commands to the motors
|
|
void output();
|
|
|
|
// output_min - sends minimum values out to the motors
|
|
virtual void output_min() = 0;
|
|
|
|
// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
|
|
virtual void output_test() = 0;
|
|
|
|
// throttle_pass_through - passes pilot's throttle input directly to all motors - dangerous but used 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
|
|
bool setup_throttle_curve();
|
|
|
|
// 1 if motor is enabled, 0 otherwise
|
|
bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS];
|
|
|
|
// slow_start - set to true to slew motors from current speed to maximum
|
|
// Note: this must be set immediately before a step up in throttle
|
|
void slow_start(bool true_false);
|
|
|
|
// structure for holding motor limit flags
|
|
struct AP_Motors_limit {
|
|
uint8_t roll_pitch : 1; // we have reached roll or pitch limit
|
|
uint8_t yaw : 1; // we have reached yaw limit
|
|
uint8_t throttle_lower : 1; // we have reached throttle's lower limit
|
|
uint8_t throttle_upper : 1; // we have reached throttle's upper limit
|
|
} limit;
|
|
|
|
// 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() {};
|
|
|
|
// update_max_throttle - updates the limits on _max_throttle if necessary taking into account slow_start_throttle flag
|
|
void update_max_throttle();
|
|
|
|
// flag bitmask
|
|
struct AP_Motors_flags {
|
|
uint8_t armed : 1; // 1 if the motors are armed, 0 if disarmed
|
|
uint8_t frame_orientation : 4; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3, NEW_PLUS_FRAME 10, NEW_X_FRAME, NEW_V_FRAME, NEW_H_FRAME
|
|
uint8_t slow_start : 1; // 1 if slow start is active
|
|
uint8_t slow_start_low_end : 1; // 1 just after arming so we can ramp up the spin_when_armed value
|
|
} _flags;
|
|
|
|
// parameters
|
|
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
|
|
AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min
|
|
|
|
// internal variables
|
|
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
|
|
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final output values sent to the motors
|
|
uint16_t _speed_hz; // speed in hz to send updates to motors
|
|
int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying)
|
|
int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start)
|
|
int16_t _hover_out; // the estimated hover throttle in pwm (i.e. 1000 ~ 2000). calculated from the THR_MID parameter
|
|
int16_t _spin_when_armed_ramped;// equal to _spin_when_armed parameter but slowly ramped up from zero
|
|
};
|
|
#endif // __AP_MOTORS_CLASS_H__
|