mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.9 KiB
C++
76 lines
2.9 KiB
C++
/// @file AP_MotorsTri.h
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/// @brief Motor control class for Tricopters
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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 <SRV_Channel/SRV_Channel.h>
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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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#define AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN 5 // minimum angle movement of tail servo in degrees
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#define AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX 80 // maximum angle movement of tail servo in degrees
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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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};
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// init
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void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
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// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
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void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
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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 ) override;
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// output_to_motors - sends minimum values out to the motors
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virtual void output_to_motors() override;
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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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uint32_t get_motor_mask() override;
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// output a thrust to all motors that match a given motor
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// mask. This is used to control tiltrotor motors in forward
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// flight. Thrust is in the range 0 to 1
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// rudder_dt applys diffential thrust for yaw in the range 0 to 1
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void output_motor_mask(float thrust, uint16_t mask, float rudder_dt) override;
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// return the roll factor of any motor, this is used for tilt rotors and tail sitters
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// using copter motors for forward flight
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float get_roll_factor(uint8_t i) override;
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protected:
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// output - sends commands to the motors
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void output_armed_stabilizing() override;
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// call vehicle supplied thrust compensation if set
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void thrust_compensation(void) override;
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const char* _get_frame_string() const override { return "TRI"; }
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// output_test_seq - 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_seq(uint8_t motor_seq, int16_t pwm) override;
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// parameters
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float _pivot_angle; // Angle of yaw pivot
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float _thrust_right;
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float _thrust_rear;
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float _thrust_left;
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// reverse pitch
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bool _pitch_reversed;
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};
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