mirror of https://github.com/ArduPilot/ardupilot
176 lines
7.8 KiB
C++
176 lines
7.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsHeli_Single.h
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/// @brief Motor control class for traditional heli
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#ifndef __AP_MOTORS_HELI_SINGLE_H__
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#define __AP_MOTORS_HELI_SINGLE_H__
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#include <inttypes.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <RC_Channel.h>
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#include "AP_MotorsHeli.h"
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#include "AP_MotorsHeli_RSC.h"
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// rsc and aux function output channels
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#define AP_MOTORS_HELI_SINGLE_RSC CH_8
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#define AP_MOTORS_HELI_SINGLE_AUX CH_7
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// servo position defaults
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#define AP_MOTORS_HELI_SINGLE_SERVO1_POS -60
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#define AP_MOTORS_HELI_SINGLE_SERVO2_POS 60
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#define AP_MOTORS_HELI_SINGLE_SERVO3_POS 180
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// swash type definitions
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#define AP_MOTORS_HELI_SINGLE_SWASH_CCPM 0
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#define AP_MOTORS_HELI_SINGLE_SWASH_H1 1
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// tail types
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO 0
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO 1
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH 2
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#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH 3
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// default direct-drive variable pitch speed
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#define AP_MOTOR_HELI_SINGLE_DDTAIL_DEFAULT 500
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// default external gyro gain
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#define AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN 350
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// COLYAW parameter min and max values
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#define AP_MOTORS_HELI_SINGLE_COLYAW_RANGE 10.0f
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#define AP_MOTORS_HELI_SINGLE_TAIL_RAMP_INCREMENT 5 // 5 is 2 seconds for direct drive tail rotor to reach to full speed (5 = (2sec*100hz)/1000)
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/// @class AP_MotorsHeli_Single
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class AP_MotorsHeli_Single : public AP_MotorsHeli {
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public:
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// constructor
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AP_MotorsHeli_Single(RC_Channel& servo_aux,
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RC_Channel& servo_rsc,
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RC_Channel& servo_1,
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RC_Channel& servo_2,
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RC_Channel& servo_3,
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RC_Channel& servo_4,
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uint16_t loop_rate,
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uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
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AP_MotorsHeli(loop_rate, speed_hz),
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_servo_aux(servo_aux),
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_servo_1(servo_1),
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_servo_2(servo_2),
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_servo_3(servo_3),
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_servo_4(servo_4),
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_main_rotor(servo_rsc, AP_MOTORS_HELI_SINGLE_RSC, loop_rate),
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_tail_rotor(servo_aux, AP_MOTORS_HELI_SINGLE_AUX, loop_rate)
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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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void Init();
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// set update rate to motors - a value in hertz
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// you must have setup_motors before calling this
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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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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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void output_test(uint8_t motor_seq, int16_t pwm);
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// allow_arming - returns true if main rotor is spinning and it is ok to arm
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bool allow_arming() const;
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// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
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void set_desired_rotor_speed(int16_t desired_speed);
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// get_estimated_rotor_speed - gets estimated rotor speed as a number from 0 ~ 1000
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int16_t get_estimated_rotor_speed() const { return _main_rotor.get_estimated_speed(); }
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// get_desired_rotor_speed - gets target rotor speed as a number from 0 ~ 1000
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int16_t get_desired_rotor_speed() const { return _main_rotor.get_desired_speed(); }
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// rotor_speed_above_critical - return true if rotor speed is above that critical for flight
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bool rotor_speed_above_critical() const { return _main_rotor.get_estimated_speed() > _main_rotor.get_critical_speed(); }
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// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
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void recalc_scalers();
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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 get_motor_mask();
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// _tail_type - returns the tail type (servo, servo with ext gyro, direct drive var pitch, direct drive fixed pitch)
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int16_t tail_type() const { return _tail_type; }
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// ext_gyro_gain - gets and sets external gyro gain as a pwm (1000~2000)
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int16_t ext_gyro_gain() const { return _ext_gyro_gain; }
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void ext_gyro_gain(int16_t pwm) { _ext_gyro_gain = pwm; }
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// has_flybar - returns true if we have a mechical flybar
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bool has_flybar() const { return _flybar_mode; }
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// get_phase_angle - returns phase angle
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int16_t get_phase_angle() const { return _phase_angle; }
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// supports_yaw_passthrought - returns true if we support yaw passthrough
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bool supports_yaw_passthrough() const { return _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO; }
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// var_info
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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_disarmed();
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// reset_servos - free up the swash servos for maximum movement
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void reset_servos();
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// init_servos - initialize the servos
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void init_servos();
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// calculate_roll_pitch_collective_factors - calculate factors based on swash type and servo position
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void calculate_roll_pitch_collective_factors();
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// heli_move_swash - moves swash plate to attitude of parameters passed in
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void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);
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// move_yaw - moves the yaw servo
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void move_yaw(int16_t yaw_out);
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// write_aux - outputs pwm onto output aux channel (ch7). servo_out parameter is of the range 0 ~ 1000
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void write_aux(int16_t servo_out);
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// external objects we depend upon
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RC_Channel& _servo_aux; // output to ext gyro gain and tail direct drive esc (ch7)
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RC_Channel& _servo_1; // swash plate servo #1
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RC_Channel& _servo_2; // swash plate servo #2
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RC_Channel& _servo_3; // swash plate servo #3
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RC_Channel& _servo_4; // tail servo
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AP_MotorsHeli_RSC _main_rotor; // main rotor
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AP_MotorsHeli_RSC _tail_rotor; // tail rotor
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// parameters
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AP_Int16 _servo1_pos; // Angular location of swash servo #1
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AP_Int16 _servo2_pos; // Angular location of swash servo #2
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AP_Int16 _servo3_pos; // Angular location of swash servo #3
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AP_Int16 _tail_type; // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
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AP_Int8 _swash_type; // Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
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AP_Int16 _ext_gyro_gain; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
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AP_Int16 _phase_angle; // Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem
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AP_Float _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
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AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
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AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
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};
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#endif // __AP_MOTORS_HELI_SINGLE_H__
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