mirror of https://github.com/ArduPilot/ardupilot
330 lines
9.0 KiB
C++
330 lines
9.0 KiB
C++
/*
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AP_MotorsMatrix.cpp - ArduCopter motors library
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Code by RandyMackay. DIYDrones.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include "AP_MotorsMatrix.h"
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// Init
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void AP_MotorsMatrix::Init()
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{
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int8_t i;
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// setup the motors
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setup_motors();
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// double check that opposite motor definitions are ok
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( opposite_motor[i] <= 0 || opposite_motor[i] >= AP_MOTORS_MAX_NUM_MOTORS || !motor_enabled[opposite_motor[i]] )
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opposite_motor[i] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
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}
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// enable fast channels or instant pwm
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set_update_rate(_speed_hz);
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}
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// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
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void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
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{
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uint32_t fast_channel_mask = 0;
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int8_t i;
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// record requested speed
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_speed_hz = speed_hz;
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// initialise instant_pwm booleans. they will be set again below
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instant_pwm_force01 = false;
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instant_pwm_force23 = false;
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instant_pwm_force67 = false;
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// check each enabled motor
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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// set-up fast channel mask
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fast_channel_mask |= _BV(_motor_to_channel_map[i]); // add to fast channel map
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// and instant pwm
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if( _motor_to_channel_map[i] == 0 || _motor_to_channel_map[i] == 1 )
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instant_pwm_force01 = true;
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if( _motor_to_channel_map[i] == 2 || _motor_to_channel_map[i] == 3 )
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instant_pwm_force23 = true;
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if( _motor_to_channel_map[i] == 6 || _motor_to_channel_map[i] == 7 )
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instant_pwm_force67 = true;
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}
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}
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// enable fast channels
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if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) {
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_rc->SetFastOutputChannels(fast_channel_mask, _speed_hz);
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}
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}
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// set frame orientation (normally + or X)
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void AP_MotorsMatrix::set_frame_orientation( uint8_t new_orientation )
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{
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// return if nothing has changed
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if( new_orientation == _frame_orientation ) {
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return;
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}
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// call parent
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AP_Motors::set_frame_orientation( new_orientation );
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// setup the motors
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setup_motors();
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// enable fast channels or instant pwm
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set_update_rate(_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_MotorsMatrix::enable()
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{
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int8_t i;
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// enable output channels
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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_rc->enable_out(_motor_to_channel_map[i]);
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}
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}
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}
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// output_min - sends minimum values out to the motors
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void AP_MotorsMatrix::output_min()
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{
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int8_t i;
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// fill the motor_out[] array for HIL use and send minimum value to each motor
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for( int8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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motor_out[i] = _rc_throttle->radio_min;
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_rc->OutputCh(_motor_to_channel_map[i], motor_out[i]);
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}
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}
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// Force output if instant pwm
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if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
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if( instant_pwm_force01 )
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_rc->Force_Out0_Out1();
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if( instant_pwm_force23 )
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_rc->Force_Out2_Out3();
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if( instant_pwm_force67 )
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_rc->Force_Out6_Out7();
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}
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}
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// output_armed - sends commands to the motors
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void AP_MotorsMatrix::output_armed()
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{
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int8_t i;
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int16_t out_min = _rc_throttle->radio_min;
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int16_t out_max = _rc_throttle->radio_max;
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// Throttle is 0 to 1000 only
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_rc_throttle->servo_out = constrain(_rc_throttle->servo_out, 0, _max_throttle);
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if(_rc_throttle->servo_out > 0)
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out_min = _rc_throttle->radio_min + _min_throttle;
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// capture desired roll, pitch, yaw and throttle from receiver
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_rc_roll->calc_pwm();
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_rc_pitch->calc_pwm();
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_rc_throttle->calc_pwm();
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_rc_yaw->calc_pwm();
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// mix roll, pitch, yaw, throttle into output for each motor
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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motor_out[i] = _rc_throttle->radio_out +
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_rc_roll->pwm_out * _roll_factor[i] +
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_rc_pitch->pwm_out * _pitch_factor[i] +
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_rc_yaw->pwm_out*_yaw_factor[i];
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}
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// ensure motor is not below the minimum
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motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], out_min);
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}
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// stability patch
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] && opposite_motor[i] != AP_MOTORS_MATRIX_MOTOR_UNDEFINED && motor_out[i] > out_max ) {
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motor_out[opposite_motor[i]] -= 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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// ensure motors are not below the minimum
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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motor_out[i] = max(motor_out[i], out_min);
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}
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}
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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(_rc_throttle->servo_out == 0){
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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motor_out[i] = _rc_throttle->radio_min;
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}
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}
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}
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#endif
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// send output to each motor
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( motor_enabled[i] ) {
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_rc->OutputCh(_motor_to_channel_map[i], motor_out[i]);
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}
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}
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// InstantPWM
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if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) {
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if( instant_pwm_force01 )
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_rc->Force_Out0_Out1();
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if( instant_pwm_force23 )
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_rc->Force_Out2_Out3();
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if( instant_pwm_force67 )
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_rc->Force_Out6_Out7();
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}
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}
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// output_disarmed - sends commands to the motors
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void AP_MotorsMatrix::output_disarmed()
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{
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if(_rc_throttle->control_in > 0){
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// we have pushed up the throttle
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// remove safety for auto pilot
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_auto_armed = true;
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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_disarmed - sends commands to the motors
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void AP_MotorsMatrix::output_test()
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{
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int8_t min_order, max_order;
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int8_t i,j;
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// find min and max orders
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min_order = test_order[0];
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max_order = test_order[0];
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for(i=1; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( test_order[i] < min_order )
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min_order = test_order[i];
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if( test_order[i] > max_order )
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max_order = test_order[i];
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}
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// shut down all motors
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output_min();
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// first delay is longer
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delay(4000);
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// loop through all the possible orders spinning any motors that match that description
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for( i=min_order; i<=max_order; i++ ) {
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for( j=0; j<AP_MOTORS_MAX_NUM_MOTORS; j++ ) {
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if( motor_enabled[j] && test_order[j] == i ) {
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// turn on this motor and wait 1/3rd of a second
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_rc->OutputCh(_motor_to_channel_map[j], _rc_throttle->radio_min + 100);
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delay(300);
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_rc->OutputCh(_motor_to_channel_map[j], _rc_throttle->radio_min);
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delay(2000);
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}
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}
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}
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// shut down all motors
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output_min();
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}
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// add_motor
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void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num, int8_t testing_order)
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{
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// ensure valid motor number is provided
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if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
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// increment number of motors if this motor is being newly motor_enabled
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if( !motor_enabled[motor_num] ) {
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motor_enabled[motor_num] = true;
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_num_motors++;
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}
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// set roll, pitch, thottle factors and opposite motor (for stability patch)
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_roll_factor[motor_num] = roll_fac;
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_pitch_factor[motor_num] = pitch_fac;
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_yaw_factor[motor_num] = yaw_fac;
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// set opposite motor after checking it's somewhat valid
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if( opposite_motor_num == AP_MOTORS_MATRIX_MOTOR_UNDEFINED || (opposite_motor_num >=0 && opposite_motor_num < AP_MOTORS_MAX_NUM_MOTORS) ) {
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opposite_motor[motor_num] = opposite_motor_num;
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}else{
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opposite_motor[motor_num] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
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}
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// set order that motor appears in test
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if( testing_order == AP_MOTORS_MATRIX_ORDER_UNDEFINED ) {
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test_order[motor_num] = motor_num;
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}else{
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test_order[motor_num] = testing_order;
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}
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}
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}
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// add_motor using just position and prop direction
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void AP_MotorsMatrix::add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num, int8_t testing_order)
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{
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// call raw motor set-up method
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add_motor_raw(
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motor_num,
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cos(radians(angle_degrees + 90)), // roll factor
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cos(radians(angle_degrees)), // pitch factor
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(float)direction, // yaw factor
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opposite_motor_num,
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testing_order);
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}
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// remove_motor - disabled motor and clears all roll, pitch, throttle factors for this motor
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void AP_MotorsMatrix::remove_motor(int8_t motor_num)
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{
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int8_t i;
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// ensure valid motor number is provided
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if( motor_num >= 0 && motor_num <= AP_MOTORS_MAX_NUM_MOTORS ) {
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// if the motor was enabled decrement the number of motors
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if( motor_enabled[motor_num] )
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_num_motors--;
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// disable the motor, set all factors to zero
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motor_enabled[motor_num] = false;
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_roll_factor[motor_num] = 0;
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_pitch_factor[motor_num] = 0;
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_yaw_factor[motor_num] = 0;
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opposite_motor[motor_num] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
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}
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// if another motor has referred to this motor as it's opposite, remove that reference
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for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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if( opposite_motor[i] == motor_num )
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opposite_motor[i] = AP_MOTORS_MATRIX_MOTOR_UNDEFINED;
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}
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}
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// remove_all_motors - removes all motor definitions
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void AP_MotorsMatrix::remove_all_motors()
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{
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for( int8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
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remove_motor(i);
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}
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_num_motors = 0;
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} |