mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.5 KiB
C++
70 lines
2.5 KiB
C++
/// @file AP_Motors6DOF.h
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/// @brief Motor control class for ROVs with direct control over 6DOF (or fewer) in movement
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#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 <RC_Channel/RC_Channel.h> // RC Channel Library
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#include "AP_MotorsMatrix.h"
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/// @class AP_MotorsMatrix
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class AP_Motors6DOF : public AP_MotorsMatrix {
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public:
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AP_Motors6DOF(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMatrix(loop_rate, speed_hz) {
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AP_Param::setup_object_defaults(this, var_info);
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};
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// Supported frame types
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typedef enum {
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SUB_FRAME_BLUEROV1,
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SUB_FRAME_VECTORED,
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SUB_FRAME_VECTORED_6DOF,
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SUB_FRAME_VECTORED_6DOF_90DEG,
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SUB_FRAME_SIMPLEROV_3,
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SUB_FRAME_SIMPLEROV_4,
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SUB_FRAME_SIMPLEROV_5,
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SUB_FRAME_CUSTOM
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} sub_frame_t;
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// Override parent
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void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;
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// Override parent
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void output_min() override;
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// Map thrust input -1~1 to pwm output 1100~1900
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int16_t calc_thrust_to_pwm(float thrust_in) const;
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// output_to_motors - sends minimum values out to the motors
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void output_to_motors() override;
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
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float get_current_limit_max_throttle() override;
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//Override MotorsMatrix method
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void add_motor_raw_6dof(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, float climb_fac, float forward_fac, float lat_fac, uint8_t testing_order);
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void output_armed_stabilizing() override;
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void output_armed_stabilizing_vectored();
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void output_armed_stabilizing_vectored_6dof();
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// Parameters
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AP_Int8 _motor_reverse[AP_MOTORS_MAX_NUM_MOTORS];
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AP_Float _forwardVerticalCouplingFactor;
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float _throttle_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to throttle (climb/descent)
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float _forward_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to forward/backward
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float _lateral_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to lateral (left/right)
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// current limiting
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float _output_limited = 1.0f;
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float _batt_current_last = 0.0f;
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};
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