mirror of https://github.com/ArduPilot/ardupilot
105 lines
4.2 KiB
C++
105 lines
4.2 KiB
C++
/// @file AP_MotorsHeli_Swash.h
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/// @brief Swashplate Library for traditional heli
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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 <AP_Param/AP_Param.h>
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#include <AP_Logger/AP_Logger.h>
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// swashplate types
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enum SwashPlateType {
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SWASHPLATE_TYPE_H3 = 0,
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SWASHPLATE_TYPE_H1,
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SWASHPLATE_TYPE_H3_140,
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SWASHPLATE_TYPE_H3_120,
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SWASHPLATE_TYPE_H4_90,
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SWASHPLATE_TYPE_H4_45
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};
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class AP_MotorsHeli_Swash {
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public:
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AP_MotorsHeli_Swash(uint8_t mot_0, uint8_t mot_1, uint8_t mot_2, uint8_t mot_3, uint8_t instance);
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// configure - configure the swashplate settings for any updated parameters
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void configure();
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// get_swash_type - gets swashplate type
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SwashPlateType get_swash_type() const { return _swash_type; }
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// calculates servo output
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void calculate(float roll, float pitch, float collective);
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// Output calculated values to servos
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void output();
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// get_phase_angle - returns the rotor phase angle
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int16_t get_phase_angle() const { return _phase_angle; }
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// Get function output mask
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uint32_t get_output_mask() const;
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#if HAL_LOGGING_ENABLED
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// Write SWSH log for this instance of swashplate
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void write_log(float cyclic_scaler, float col_ang_min, float col_ang_max, int16_t col_min, int16_t col_max) const;
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#endif
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// var_info
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// linearize mechanical output of swashplate servo
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float get_linear_servo_output(float input) const;
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// CCPM Mixers - calculate mixing scale factors by swashplate type
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void calculate_roll_pitch_collective_factors();
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// Setup a servo
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void add_servo_angle(uint8_t num, float angle, float collective);
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void add_servo_raw(uint8_t num, float roll, float pitch, float collective);
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// write to a swash servo. output value is pwm
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void rc_write(uint8_t chan, float swash_in);
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enum CollectiveDirection {
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COLLECTIVE_DIRECTION_NORMAL = 0,
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COLLECTIVE_DIRECTION_REVERSED
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};
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static const uint8_t _max_num_servos {4};
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// Currently configured setup
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SwashPlateType _swash_type; // Swashplate type
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CollectiveDirection _collective_direction; // Collective control direction, normal or reversed
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bool _make_servo_linear; // Sets servo output to be linearized
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// Internal variables
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bool _enabled[_max_num_servos]; // True if this output servo is enabled
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float _rollFactor[_max_num_servos]; // Roll axis scaling of servo output based on servo position
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float _pitchFactor[_max_num_servos]; // Pitch axis scaling of servo output based on servo position
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float _collectiveFactor[_max_num_servos]; // Collective axis scaling of servo output based on servo position
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float _output[_max_num_servos]; // Servo output value
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const uint8_t _motor_num[_max_num_servos]; // Motor function to use for output
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const uint8_t _instance; // Swashplate instance. Used for logging.
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// Variables stored for logging
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float _roll_input;
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float _pitch_input;
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float _collective_input_scaled;
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// parameters
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AP_Int8 _swashplate_type; // Swash Type Setting
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AP_Int8 _swash_coll_dir; // Collective control direction, normal or reversed
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AP_Int8 _linear_swash_servo; // linearize swashplate output
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AP_Int8 enable;
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AP_Int16 _servo1_pos; // servo1 azimuth position on swashplate with front of heli being 0 deg
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AP_Int16 _servo2_pos; // servo2 azimuth position on swashplate with front of heli being 0 deg
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AP_Int16 _servo3_pos; // servo3 azimuth position on swashplate with front of heli being 0 deg
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AP_Int16 _phase_angle; // Phase angle correction for rotor head. If pitching the swash forward induces
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// a roll, this can be negative depending on mechanics.
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};
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