mirror of https://github.com/ArduPilot/ardupilot
202 lines
6.1 KiB
Plaintext
202 lines
6.1 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == Y6_FRAME
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#define YAW_DIRECTION 1
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static void init_motors_out()
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{
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#if INSTANT_PWM == 0
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APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4)
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| _BV(MOT_5) | _BV(MOT_6) );
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#endif
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}
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static void motors_output_enable()
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{
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APM_RC.enable_out(MOT_1);
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APM_RC.enable_out(MOT_2);
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APM_RC.enable_out(MOT_3);
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APM_RC.enable_out(MOT_4);
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APM_RC.enable_out(MOT_5);
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APM_RC.enable_out(MOT_6);
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}
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static void output_motors_armed()
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{
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 800);
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if(g.rc_3.servo_out > 0)
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out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
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g.rc_1.calc_pwm();
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g.rc_2.calc_pwm();
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g.rc_3.calc_pwm();
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g.rc_4.calc_pwm();
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// Multi-Wii Mix
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//left
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motor_out[MOT_2] = (g.rc_3.radio_out * g.top_bottom_ratio) + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // LEFT TOP - CW
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motor_out[MOT_3] = g.rc_3.radio_out + g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_LEFT - CCW
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//right
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motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // RIGHT TOP - CW
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motor_out[MOT_1] = g.rc_3.radio_out - g.rc_1.pwm_out + (g.rc_2.pwm_out * 2 / 3); // BOTTOM_RIGHT - CCW
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//back
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motor_out[MOT_6] = (g.rc_3.radio_out * g.top_bottom_ratio) - (g.rc_2.pwm_out * 4 / 3); // REAR TOP - CCW
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motor_out[MOT_4] = g.rc_3.radio_out - (g.rc_2.pwm_out * 4 / 3); // BOTTOM_REAR - CW
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//left
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motor_out[MOT_2] -= YAW_DIRECTION * g.rc_4.pwm_out; // LEFT TOP - CW
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motor_out[MOT_3] += YAW_DIRECTION * g.rc_4.pwm_out; // LEFT BOTTOM - CCW
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//right
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motor_out[MOT_5] -= YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT TOP - CW
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motor_out[MOT_1] += YAW_DIRECTION * g.rc_4.pwm_out; // RIGHT BOTTOM - CCW
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//back
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motor_out[MOT_6] += YAW_DIRECTION * g.rc_4.pwm_out; // REAR TOP - CCW
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motor_out[MOT_4] -= YAW_DIRECTION * g.rc_4.pwm_out; // REAR BOTTOM - CW
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/*
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int roll_out = (float)g.rc_1.pwm_out * .866;
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int pitch_out = g.rc_2.pwm_out / 2;
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//left
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motor_out[MOT_2] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP
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motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // CW
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//right
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motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP
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motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // CW
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//back
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motor_out[MOT_6] = ((g.rc_3.radio_out * g.top_bottom_ratio) - g.rc_2.pwm_out); // CCW TOP
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motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out; // CW
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// Yaw
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//top
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motor_out[MOT_2] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_5] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_6] += g.rc_4.pwm_out; // CCW
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//bottom
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motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_1] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
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*/
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// TODO: add stability patch
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motor_out[MOT_1] = min(motor_out[MOT_1], out_max);
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motor_out[MOT_2] = min(motor_out[MOT_2], out_max);
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motor_out[MOT_3] = min(motor_out[MOT_3], out_max);
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motor_out[MOT_4] = min(motor_out[MOT_4], out_max);
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motor_out[MOT_5] = min(motor_out[MOT_5], out_max);
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motor_out[MOT_6] = min(motor_out[MOT_6], out_max);
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// limit output so motors don't stop
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motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
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motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
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motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
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motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
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motor_out[MOT_5] = max(motor_out[MOT_5], out_min);
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motor_out[MOT_6] = max(motor_out[MOT_6], out_min);
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#if CUT_MOTORS == ENABLED
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// if we are not sending a throttle output, we cut the motors
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if(g.rc_3.servo_out == 0){
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_3] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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motor_out[MOT_5] = g.rc_3.radio_min;
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motor_out[MOT_6] = g.rc_3.radio_min;
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}
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#endif
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// this filter slows the acceleration of motors vs the deceleration
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// Idea by Denny Rowland to help with his Yaw issue
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for(int8_t m = 0; m <= 6; m++ ) {
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int i = ch_of_mot(m);
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if(motor_filtered[i] < motor_out[i]){
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motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2;
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}else{
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// don't filter
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motor_filtered[i] = motor_out[i];
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}
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}
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APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]);
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APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]);
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APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]);
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APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]);
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APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]);
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#if INSTANT_PWM == 1
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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APM_RC.Force_Out6_Out7();
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#endif
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}
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static void output_motors_disarmed()
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{
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if(g.rc_3.control_in > 0){
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// we have pushed up the throttle
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// remove safety
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motor_auto_armed = true;
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}
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// fill the motor_out[] array for HIL use
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for (unsigned char i = 0; i < 8; i++) {
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motor_out[i] = g.rc_3.radio_min;
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}
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// Send commands to motors
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
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}
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static void output_motor_test()
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{
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_3] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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motor_out[MOT_5] = g.rc_3.radio_min;
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motor_out[MOT_6] = g.rc_3.radio_min;
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if(g.rc_1.control_in > 3000){ // right
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motor_out[MOT_1] += 100;
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motor_out[MOT_5] += 100;
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}
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if(g.rc_1.control_in < -3000){ // left
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motor_out[MOT_2] += 100;
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motor_out[MOT_3] += 100;
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}
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if(g.rc_2.control_in > 3000){ // back
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motor_out[MOT_6] += 100;
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motor_out[MOT_4] += 100;
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}
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APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
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APM_RC.OutputCh(MOT_3, motor_out[MOT_4]);
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APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
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APM_RC.OutputCh(MOT_5, motor_out[MOT_5]);
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APM_RC.OutputCh(MOT_6, motor_out[MOT_6]);
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}
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#endif
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