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/*
www . ArduCopter . com - www . DIYDrones . com
Copyright ( c ) 2010. All rights reserved .
An Open Source Arduino based multicopter .
File : Arducopter . h
Version : v1 .0 , Aug 27 , 2010
Author ( s ) : ArduCopter Team
Ted Carancho ( aeroquad ) , Jose Julio , Jordi Muñoz ,
Jani Hirvinen , Ken McEwans , Roberto Navoni ,
Sandro Benigno , Chris Anderson
This program is free software : you can redistribute it and / or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation , either version 3 of the License , or
( at your option ) any later version .
This program is distributed in the hope that it will be useful ,
but WITHOUT ANY WARRANTY ; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE . See the
GNU General Public License for more details .
You should have received a copy of the GNU General Public License
along with this program . If not , see < http : //www.gnu.org/licenses/>.
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
ChangeLog :
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
TODO :
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
# ifndef HELI_H
# define HELI_H
# include <avr/interrupt.h>
# include "WProgram.h"
# include <Wire.h>
# include <EEPROM.h> // added by Randy
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# include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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# include <APM_RC.h> // ArduPilot Mega RC Library
# include <APM_Compass.h> // ArduPilot Mega Compass Library
# include <DataFlash.h> // ArduPilot Mega DataFlash Library.
# include "../AP_Math/AP_Math.h"
/**********************************************************************/
// Channel definitions
# define CHANNEL_FRONT_LEFT 0
# define CHANNEL_FRONT_RIGHT 1
# define CHANNEL_REAR 2
# define CHANNEL_YAW 3
/**********************************************************************/
// EEPROM locations
# define EEPROM_BASE_ADDRESS 300
# define EEPROM_MAGIC_NUMBER_ADDR EEPROM_BASE_ADDRESS
# define FRONT_LEFT_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+4
# define FRONT_LEFT_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+8
# define FRONT_RIGHT_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+12
# define FRONT_RIGHT_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+16
# define REAR_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+20
# define REAR_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+24
# define YAW_MIN_ADDR EEPROM_BASE_ADDRESS+28
# define YAW_MAX_ADDR EEPROM_BASE_ADDRESS+32
# define THROTTLE_MIN_ADDR EEPROM_BASE_ADDRESS+36
# define THROTTLE_MAX_ADDR EEPROM_BASE_ADDRESS+40
# define EEPROM_MAGIC_NUMBER 12345.0
# define YAW_MODE_HEADING_HOLD 0
# define YAW_MODE_RATE 1
# define HELI_STICK_TO_ANGLE_FACTOR 2.0 // To convert ccpm values (-50 ~ 50 ) to absolute angles. larger number means less lean
# define HELI_YAW_STICK_TO_ANGLE_FACTOR 0.5 // convert yaw (-50 ~ 50) to turn rate in degrees per second. larger number means slower turn rate
// roll and pitch adjustment - attitude close to what's required to keep heli in one place when hovering. This will be added to the roll/pitch commands from the pilot
# define HELI_ADJUST_ROLL 4
# define HELI_ADJUST_PITCH -3
// CCPM Types
# define HELI_CCPM_120_TWO_FRONT_ONE_BACK 0
# define HELI_CCPM_120_ONE_FRONT_TWO_BACK 1
// define which CCPM we have
# define HELI_CCPM HELI_CCPM_120_TWO_FRONT_ONE_BACK
// define DeAllocation matrix(converts radio inputs to roll, pitch and collective
// for example roll = (inputCh0*Row1Col1) + (inputCh1*Row1Col2) + (inputCh2*Row1Col3)
// pitch = (inputCh0*Row2Col1) + (inputCh1*Row2Col2) + (inputCh2*Row2Col3)
// collective = (inputCh0*Row3Col1) + (inputCh1*Row3Col2) + (inputCh2*Row3Col3)
// and Allocation matrix (converts roll, pitch, collective to servo outputs)
// for example servo0 = (roll*Row1Col1) + (pitch*Row1Col2) + (collective*Row1Col3)
// servo1 = (roll*Row2Col1) + (pitch*Row2Col2) + (collective*Row2Col3)
// servo2 = (roll*Row3Col1) + (pitch*Row3Col2) + (collective*Row3Col3)
# if HELI_CCPM == HELI_CCPM_120_TWO_FRONT_ONE_BACK
# define CCPM_DEALLOCATION 0.5774, -0.5774, 0.0000, \
0.3333 , 0.3333 , - 0.6667 , \
0.3333 , 0.3333 , 0.3333
# define CCPM_ALLOCATION 0.8660,0.5000, 1.0000, \
- 0.8660 , 0.5000 , 1.0000 , \
0.0000 , - 1.0000 , 1.0000
# endif
# if HELI_CCPM == HELI_CCPM_120_ONE_FRONT_TWO_BACK
# define CCPM_DEALLOCATION 0.5774, -0.5774, 0.0000, \
- 0.3333 , - 0.3333 , 0.6667 , \
0.3333 , 0.3333 , 0.3333
# define CCPM_ALLOCATION 0.8660, -0.5000, 1.0000, \
- 0.8660 , - 0.5000 , 1.0000 , \
0.0000 , 1.0000 , 1.0000
# endif
const Matrix3f ccpmDeallocation ( CCPM_DEALLOCATION ) ;
const Matrix3f ccpmAllocation ( CCPM_ALLOCATION ) ;
/**********************************************************************/
// time variables - we run at a different hertz than quads
unsigned long heli_previousTimeMicros = 0 ;
// PWM Input Processing - Variable Definitions
float frontLeftCCPMmin ;
float frontLeftCCPMmax ;
float frontLeftCCPMslope ;
float frontLeftCCPMintercept ;
float frontRightCCPMmin ;
float frontRightCCPMmax ;
float frontRightCCPMslope ;
float frontRightCCPMintercept ;
float rearCCPMmin ;
float rearCCPMmax ;
float rearCCPMslope ;
float rearCCPMintercept ;
float yawMin ;
float yawMax ;
float yawSlope ;
float yawIntercept ;
Vector3f ccpmPercents ; // Array of ccpm input values, converted to percents
Vector3f rollPitchCollPercent ; // Array containing deallocated roll, pitch and collective percent commands
float ch_collective ;
int collective_mid ;
float control_collective ;
float command_rx_collective ;
float yawPercent ;
float targetHeading ;
/// for sending values out to servos
Vector3f ccpmPercents_out ; // Array of ccpm input values, converted to percents
Vector3f pitchRollCollPercent_out ; // Array containing deallocated pitch, roll, and collective percent commands
// heli debug
int heli_debug = 0 ;
/**********************************************************************/
// Output to Servos
int leftOut ;
int rightOut ;
int rearOut ;
int yawOut ;
# endif HELI_H
