mirror of https://github.com/ArduPilot/ardupilot
361 lines
14 KiB
C++
361 lines
14 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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_MotorsTri.cpp - ArduCopter motors library
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* Code by RandyMackay. DIYDrones.com
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*
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*/
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include "AP_MotorsTri.h"
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_MotorsTri::var_info[] PROGMEM = {
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// variables from parent vehicle
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AP_NESTEDGROUPINFO(AP_Motors, 0),
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// parameters 1 ~ 29 reserved for tradheli
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// parameters 30 ~ 39 reserved for tricopter
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// parameters 40 ~ 49 for single copter and coax copter (these have identical parameter files)
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// @Param: YAW_SV_REV
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// @DisplayName: Yaw Servo Reverse
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// @Description: Yaw servo reversing. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
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// @Values: -1:Reversed,1:Normal
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// @User: Standard
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AP_GROUPINFO("YAW_SV_REV", 31, AP_MotorsTri, _yaw_servo_reverse, 1),
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// @Param: YAW_SV_TRIM
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// @DisplayName: Yaw Servo Trim/Center
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// @Description: Trim or center position of yaw servo
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// @Range: 1250 1750
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("YAW_SV_TRIM", 32, AP_MotorsTri, _yaw_servo_trim, 1500),
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// @Param: YAW_SV_MIN
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// @DisplayName: Yaw Servo Min Position
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// @Description: Minimum angle limit of yaw servo
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// @Range: 1000 1400
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("YAW_SV_MIN", 33, AP_MotorsTri, _yaw_servo_min, 1250),
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// @Param: YAW_SV_MAX
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// @DisplayName: Yaw Servo Max Position
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// @Description: Maximum angle limit of yaw servo
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// @Range: 1600 2000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("YAW_SV_MAX", 34, AP_MotorsTri, _yaw_servo_max, 1750),
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AP_GROUPEND
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};
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// init
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void AP_MotorsTri::Init()
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{
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// call parent Init function to set-up throttle curve
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AP_Motors::Init();
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// set update rate for the 3 motors (but not the servo on channel 7)
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set_update_rate(_speed_hz);
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// set the motor_enabled flag so that the ESCs can be calibrated like other frame types
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motor_enabled[AP_MOTORS_MOT_1] = true;
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motor_enabled[AP_MOTORS_MOT_2] = true;
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motor_enabled[AP_MOTORS_MOT_4] = true;
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// disable CH7 from being used as an aux output (i.e. for camera gimbal, etc)
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RC_Channel_aux::disable_aux_channel(AP_MOTORS_CH_TRI_YAW);
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}
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// set update rate to motors - a value in hertz
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void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
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{
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// record requested speed
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_speed_hz = speed_hz;
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// set update rate for the 3 motors (but not the servo on channel 7)
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uint32_t mask =
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]) |
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]) |
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1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]);
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hal.rcout->set_freq(mask, _speed_hz);
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}
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// enable - starts allowing signals to be sent to motors
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void AP_MotorsTri::enable()
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{
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// enable output channels
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]));
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hal.rcout->enable_ch(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]));
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hal.rcout->enable_ch(AP_MOTORS_CH_TRI_YAW);
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}
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// output_min - sends minimum values out to the motors
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void AP_MotorsTri::output_min()
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{
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// set lower limit flag
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limit.throttle_lower = true;
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// send minimum value to each motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _throttle_radio_min);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _throttle_radio_min);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _throttle_radio_min);
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hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
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}
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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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uint16_t AP_MotorsTri::get_motor_mask()
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{
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// tri copter uses channels 1,2,4 and 7
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return (1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1])) |
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(1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2])) |
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(1U << pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4])) |
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(1U << AP_MOTORS_CH_TRI_YAW);
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}
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void AP_MotorsTri::output_armed_not_stabilizing()
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{
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int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
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int16_t out_min = _throttle_radio_min + _min_throttle;
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int16_t out_max = _throttle_radio_max;
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int16_t motor_out[AP_MOTORS_MOT_4+1];
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// initialize limits flags
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limit.roll_pitch = true;
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limit.yaw = true;
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limit.throttle_lower = false;
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limit.throttle_upper = false;
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int16_t min_thr = rel_pwm_to_thr_range(_spin_when_armed_ramped);
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if (_throttle_control_input <= min_thr) {
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_throttle_control_input = min_thr;
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limit.throttle_lower = true;
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}
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if (_throttle_control_input >= _hover_out) {
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_throttle_control_input = _hover_out;
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limit.throttle_upper = true;
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}
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throttle_radio_output = calc_throttle_radio_output();
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motor_out[AP_MOTORS_MOT_1] = throttle_radio_output;
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motor_out[AP_MOTORS_MOT_2] = throttle_radio_output;
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motor_out[AP_MOTORS_MOT_4] = throttle_radio_output;
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if(throttle_radio_output >= out_min) {
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// adjust for thrust curve and voltage scaling
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motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
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motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
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motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
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}
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// send output to each motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), motor_out[AP_MOTORS_MOT_1]);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), motor_out[AP_MOTORS_MOT_2]);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]);
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// send centering signal to yaw servo
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hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
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}
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// sends commands to the motors
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// TODO pull code that is common to output_armed_not_stabilizing into helper functions
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void AP_MotorsTri::output_armed_stabilizing()
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{
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int16_t roll_pwm; // roll pwm value, initially calculated by calc_roll_pwm() but may be modified after, +/- 400
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int16_t pitch_pwm; // pitch pwm value, initially calculated by calc_roll_pwm() but may be modified after, +/- 400
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int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
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int16_t yaw_radio_output; // final yaw pwm value sent to motors, typically ~1100-1900
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int16_t out_min = _throttle_radio_min + _min_throttle;
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int16_t out_max = _throttle_radio_max;
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int16_t motor_out[AP_MOTORS_MOT_4+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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// Throttle is 0 to 1000 only
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if (_throttle_control_input <= 0) {
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_throttle_control_input = 0;
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limit.throttle_lower = true;
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}
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if (_throttle_control_input >= _max_throttle) {
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_throttle_control_input = _max_throttle;
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limit.throttle_upper = true;
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}
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// tricopters limit throttle to 80%
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// To-Do: implement improved stability patch and remove this limit
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if (_throttle_control_input > 800) {
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_throttle_control_input = 800;
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limit.throttle_upper = true;
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}
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roll_pwm = calc_roll_pwm();
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pitch_pwm = calc_pitch_pwm();
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throttle_radio_output = calc_throttle_radio_output();
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yaw_radio_output = calc_yaw_radio_output();
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// if we are not sending a throttle output, we cut the motors
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if( is_zero(_throttle_control_input) ) {
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// range check spin_when_armed
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if (_spin_when_armed_ramped < 0) {
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_spin_when_armed_ramped = 0;
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}
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if (_spin_when_armed_ramped > _min_throttle) {
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_spin_when_armed_ramped = _min_throttle;
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}
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motor_out[AP_MOTORS_MOT_1] = _throttle_radio_min + _spin_when_armed_ramped;
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motor_out[AP_MOTORS_MOT_2] = _throttle_radio_min + _spin_when_armed_ramped;
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motor_out[AP_MOTORS_MOT_4] = _throttle_radio_min + _spin_when_armed_ramped;
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}else{
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int16_t roll_out = (float)(roll_pwm * 0.866f);
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int16_t pitch_out = pitch_pwm / 2;
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// check if throttle is below limit
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if (_throttle_control_input <= _min_throttle) {
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limit.throttle_lower = true;
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_throttle_control_input = _min_throttle;
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throttle_radio_output = calc_throttle_radio_output();
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}
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// TODO: set limits.roll_pitch and limits.yaw
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//left front
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motor_out[AP_MOTORS_MOT_2] = throttle_radio_output + roll_out + pitch_out;
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//right front
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motor_out[AP_MOTORS_MOT_1] = throttle_radio_output - roll_out + pitch_out;
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// rear
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motor_out[AP_MOTORS_MOT_4] = throttle_radio_output - pitch_pwm;
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// Tridge's stability patch
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if(motor_out[AP_MOTORS_MOT_1] > out_max) {
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motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max);
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motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max);
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motor_out[AP_MOTORS_MOT_1] = out_max;
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}
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if(motor_out[AP_MOTORS_MOT_2] > out_max) {
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motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max);
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motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max);
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motor_out[AP_MOTORS_MOT_2] = out_max;
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}
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if(motor_out[AP_MOTORS_MOT_4] > out_max) {
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motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max);
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motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max);
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motor_out[AP_MOTORS_MOT_4] = out_max;
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}
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// adjust for thrust curve and voltage scaling
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motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
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motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
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motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
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// ensure motors don't drop below a minimum value and stop
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motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], out_min);
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motor_out[AP_MOTORS_MOT_2] = max(motor_out[AP_MOTORS_MOT_2], out_min);
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motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min);
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}
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// send output to each motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), motor_out[AP_MOTORS_MOT_1]);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), motor_out[AP_MOTORS_MOT_2]);
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), motor_out[AP_MOTORS_MOT_4]);
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// send out to yaw command to tail servo
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hal.rcout->write(AP_MOTORS_CH_TRI_YAW, yaw_radio_output);
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}
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// output_disarmed - sends commands to the motors
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void AP_MotorsTri::output_disarmed()
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{
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// Send minimum values to all motors
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output_min();
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}
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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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void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
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{
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// exit immediately if not armed
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if (!armed()) {
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return;
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}
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// output to motors and servos
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switch (motor_seq) {
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case 1:
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// front right motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm);
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break;
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case 2:
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// back motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
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break;
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case 3:
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// back servo
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hal.rcout->write(AP_MOTORS_CH_TRI_YAW, pwm);
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break;
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case 4:
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// front left motor
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hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm);
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break;
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default:
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// do nothing
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break;
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}
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}
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// calc_yaw_radio_output - calculate final radio output for yaw channel
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int16_t AP_MotorsTri::calc_yaw_radio_output()
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{
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int16_t ret;
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if (_yaw_servo_reverse < 0) {
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if (_yaw_control_input >= 0){
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ret = (_yaw_servo_trim - (_yaw_control_input/4500 * (_yaw_servo_trim - _yaw_servo_min)));
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} else {
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ret = (_yaw_servo_trim - (_yaw_control_input/4500 * (_yaw_servo_max - _yaw_servo_trim)));
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}
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} else {
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if (_yaw_control_input >= 0){
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ret = ((_yaw_control_input/4500 * (_yaw_servo_max - _yaw_servo_trim)) + _yaw_servo_trim);
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} else {
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ret = ((_yaw_control_input/4500 * (_yaw_servo_trim - _yaw_servo_min)) + _yaw_servo_trim);
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}
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}
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return ret;
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}
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