mirror of https://github.com/ArduPilot/ardupilot
210 lines
5.1 KiB
Plaintext
210 lines
5.1 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if FRAME_CONFIG == QUAD_FRAME
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static void init_motors_out()
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{
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#if INSTANT_PWM == 0
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APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4),
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g.rc_speed);
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#endif
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}
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static void motors_output_enable()
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{
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APM_RC.enable_out(MOT_1);
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APM_RC.enable_out(MOT_2);
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APM_RC.enable_out(MOT_3);
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APM_RC.enable_out(MOT_4);
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}
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static void output_motors_armed()
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{
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int roll_out, pitch_out;
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int out_min = g.rc_3.radio_min;
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int out_max = g.rc_3.radio_max;
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// Throttle is 0 to 1000 only
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE);
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if(g.rc_3.servo_out > 0)
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out_min = g.rc_3.radio_min + MINIMUM_THROTTLE;
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g.rc_1.calc_pwm();
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g.rc_2.calc_pwm();
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g.rc_3.calc_pwm();
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g.rc_4.calc_pwm();
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if(g.frame_orientation == X_FRAME){
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roll_out = (float)g.rc_1.pwm_out * 0.707;
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pitch_out = (float)g.rc_2.pwm_out * 0.707;
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// left
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motor_out[MOT_3] = g.rc_3.radio_out + roll_out + pitch_out; // FRONT
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motor_out[MOT_2] = g.rc_3.radio_out + roll_out - pitch_out; // BACK
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// right
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motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; // FRONT
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motor_out[MOT_4] = g.rc_3.radio_out - roll_out - pitch_out; // BACK
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}else{
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roll_out = g.rc_1.pwm_out;
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pitch_out = g.rc_2.pwm_out;
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// right motor
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motor_out[MOT_1] = g.rc_3.radio_out - roll_out;
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// left motor
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motor_out[MOT_2] = g.rc_3.radio_out + roll_out;
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// front motor
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motor_out[MOT_3] = g.rc_3.radio_out + pitch_out;
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// back motor
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motor_out[MOT_4] = g.rc_3.radio_out - pitch_out;
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}
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// Yaw input
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motor_out[MOT_1] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_2] += g.rc_4.pwm_out; // CCW
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motor_out[MOT_3] -= g.rc_4.pwm_out; // CW
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motor_out[MOT_4] -= g.rc_4.pwm_out; // CW
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/* We need to clip motor output at out_max. When cipping a motors
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* output we also need to compensate for the instability by
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* lowering the opposite motor by the same proportion. This
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* ensures that we retain control when one or more of the motors
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* is at its maximum output
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*/
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for (int i = MOT_1; i <= MOT_4; i++){
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if(motor_out[i] > out_max){
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// note that i^1 is the opposite motor
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motor_out[i ^ 1] -= motor_out[i] - out_max;
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motor_out[i] = out_max;
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}
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}
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// limit output so motors don't stop
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motor_out[MOT_1] = max(motor_out[MOT_1], out_min);
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motor_out[MOT_2] = max(motor_out[MOT_2], out_min);
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motor_out[MOT_3] = max(motor_out[MOT_3], out_min);
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motor_out[MOT_4] = max(motor_out[MOT_4], out_min);
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#if CUT_MOTORS == ENABLED
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// if we are not sending a throttle output, we cut the motors
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if(g.rc_3.servo_out == 0){
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_3] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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}
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#endif
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APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
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APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
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APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
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#if INSTANT_PWM == 1
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// InstantPWM
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APM_RC.Force_Out0_Out1();
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APM_RC.Force_Out2_Out3();
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#endif
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//debug_motors();
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}
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static void output_motors_disarmed()
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{
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if(g.rc_3.control_in > 0){
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// we have pushed up the throttle
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// remove safety
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motor_auto_armed = true;
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}
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// fill the motor_out[] array for HIL use
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for (unsigned char i = 0; i < 8; i++){
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motor_out[i] = g.rc_3.radio_min;
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}
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// Send commands to motors
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min);
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min);
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}
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/*
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//static void debug_motors()
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{
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Serial.printf("1:%d\t2:%d\t3:%d\t4:%d\n",
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motor_out[MOT_1],
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motor_out[MOT_2],
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motor_out[MOT_3],
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motor_out[MOT_4]);
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}
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//*/
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static void output_motor_test()
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{
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motor_out[MOT_1] = g.rc_3.radio_min;
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motor_out[MOT_2] = g.rc_3.radio_min;
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motor_out[MOT_3] = g.rc_3.radio_min;
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motor_out[MOT_4] = g.rc_3.radio_min;
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if(g.frame_orientation == X_FRAME){
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APM_RC.OutputCh(MOT_3, g.rc_2.radio_min);
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delay(4000);
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
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delay(300);
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
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delay(2000);
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APM_RC.OutputCh(MOT_4, g.rc_1.radio_min + 100);
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delay(300);
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APM_RC.OutputCh(MOT_4, g.rc_1.radio_min);
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delay(2000);
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APM_RC.OutputCh(MOT_2, g.rc_4.radio_min + 100);
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delay(300);
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APM_RC.OutputCh(MOT_2, g.rc_4.radio_min);
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delay(2000);
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APM_RC.OutputCh(MOT_3, g.rc_2.radio_min + 100);
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delay(300);
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}else{
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APM_RC.OutputCh(MOT_3, g.rc_2.radio_min);
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delay(4000);
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100);
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delay(300);
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min);
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delay(2000);
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APM_RC.OutputCh(MOT_2, g.rc_1.radio_min + 100);
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delay(300);
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APM_RC.OutputCh(MOT_2, g.rc_1.radio_min);
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delay(2000);
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APM_RC.OutputCh(MOT_4, g.rc_4.radio_min + 100);
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delay(300);
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APM_RC.OutputCh(MOT_4, g.rc_4.radio_min);
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delay(2000);
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APM_RC.OutputCh(MOT_3, g.rc_2.radio_min + 100);
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delay(300);
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}
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APM_RC.OutputCh(MOT_1, motor_out[MOT_1]);
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APM_RC.OutputCh(MOT_2, motor_out[MOT_2]);
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APM_RC.OutputCh(MOT_3, motor_out[MOT_3]);
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APM_RC.OutputCh(MOT_4, motor_out[MOT_4]);
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}
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#endif
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