mirror of
https://github.com/ArduPilot/ardupilot
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2aba5319ed
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
69 lines
2.6 KiB
C++
69 lines
2.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsTri.h
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/// @brief Motor control class for Tricopters
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#ifndef __AP_MOTORS_TRI_H__
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#define __AP_MOTORS_TRI_H__
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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_MotorsMulticopter.h"
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// tail servo uses channel 7
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#define AP_MOTORS_CH_TRI_YAW CH_7
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/// @class AP_MotorsTri
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class AP_MotorsTri : public AP_MotorsMulticopter {
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public:
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/// Constructor
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AP_MotorsTri(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMulticopter(loop_rate, speed_hz)
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{
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AP_Param::setup_object_defaults(this, var_info);
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};
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// init
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virtual void Init();
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// set update rate to motors - a value in hertz
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void set_update_rate( uint16_t speed_hz );
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// enable - starts allowing signals to be sent to motors
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virtual void enable();
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// output_test - 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(uint8_t motor_seq, int16_t pwm);
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// output_min - sends minimum values out to the motors
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virtual void output_min();
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// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (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();
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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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// output - sends commands to the motors
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void output_armed_stabilizing();
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void output_armed_not_stabilizing();
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void output_disarmed();
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// calc_yaw_radio_output - calculate final radio output for yaw channel
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int16_t calc_yaw_radio_output(); // calculate radio output for yaw servo, typically in range of 1100-1900
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// parameters
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AP_Int8 _yaw_servo_reverse; // Yaw servo signal reversing
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AP_Int16 _yaw_servo_trim; // Trim or center position of yaw servo
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AP_Int16 _yaw_servo_min; // Minimum angle limit of yaw servo
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AP_Int16 _yaw_servo_max; // Maximum angle limit of yaw servo
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};
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#endif // AP_MOTORSTRI
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