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Added forward and strafe setters and getters to AP_Motor_Class to enable a motor class with 6DOF actuators.

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This commit is contained in:
Rustom Jehangir 2016-01-01 14:16:45 -08:00
parent 0e978ed99c
commit 4a74f623c4
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_Motors/AP_Motors_Class.h
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@ -65,6 +65,8 @@ public:
void set_pitch(int16_t pitch_in) { _pitch_control_input = pitch_in; }; // range -4500 ~ 4500
void set_yaw(int16_t yaw_in) { _yaw_control_input = yaw_in; }; // range -4500 ~ 4500
void set_throttle(float throttle_in) { _throttle_in = constrain_float(throttle_in,-100.0f,1100.0f); }; // range 0 ~ 1000
void set_forward(float forward_in) { _strafe_in = constrain_float(forward_in,-100.0f,1100.0f); }; // range 0 ~ 1000
void set_strafe(float strafe_in) { _strafe_in = constrain_float(strafe_in,-100.0f,1100.0f); }; // range 0 ~ 1000
void set_stabilizing(bool stabilizing) { _flags.stabilizing = stabilizing; }
// accessors for roll, pitch, yaw and throttle inputs to motors
@ -72,6 +74,9 @@ public:
float get_pitch() const { return _pitch_control_input; }
float get_yaw() const { return _yaw_control_input; }
float get_throttle() const { return _throttle_control_input; }
float get_forward() const { return _forward_control_input; }
float get_strafe() const { return _strafe_control_input; }
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
@ -150,6 +155,8 @@ protected:
float _roll_control_input; // desired roll control from attitude controllers, +/- 4500
float _pitch_control_input; // desired pitch control from attitude controller, +/- 4500
float _throttle_control_input; // desired throttle (thrust) control from attitude controller, 0-1000
float _forward_control_input; // desired throttle (forward) control from attitude controller, 0-1000
float _strafe_control_input; // desired throttle (strafe) control from attitude controller, 0-1000
float _yaw_control_input; // desired yaw control from attitude controller, +/- 4500
float _throttle_pwm_scalar; // scalar used to convert throttle channel pwm range into 0-1000 range, ~0.8 - 1.0
float _rpy_pwm_scalar; // scaler used to convert roll, pitch, yaw inputs to pwm range
@ -158,6 +165,8 @@ protected:
int16_t _throttle_radio_min; // minimum radio channel pwm
int16_t _throttle_radio_max; // maximum radio channel pwm
float _throttle_in; // last throttle input from set_throttle caller
float _forward_in; // last forward input from set_forward caller
float _strafe_in; // last strafe input from set_strafe caller
LowPassFilterFloat _throttle_filter; // throttle input filter
// battery voltage, current and air pressure compensation variables