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Changed class names in new AP_MotorsBlueROV class for compilation. All other code is still identical to the tricopter motor class.

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This commit is contained in:
Rustom Jehangir 2016-01-01 14:30:16 -08:00
parent 72469e909c
commit 4f9fd8dd6b
3 changed files with 26 additions and 25 deletions
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1
libraries/AP_Motors/AP_Motors.h
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@ -15,5 +15,6 @@
#include "AP_MotorsHeli_Single.h"
#include "AP_MotorsSingle.h"
#include "AP_MotorsCoax.h"
#include "AP_MotorsBlueROV.h"
#endif // __AP_MOTORS_H__

36
libraries/AP_Motors/AP_MotorsBlueROV.cpp
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@ -15,17 +15,17 @@
*/
/*
* AP_MotorsTri.cpp - ArduCopter motors library
* Code by RandyMackay. DIYDrones.com
* AP_MotorsBlueROV.cpp - ArduCopter motors library
* Code by Rustom Jehangir. BlueRobotics.com
*
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "AP_MotorsTri.h"
#include "AP_MotorsBlueROV.h"
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsTri::var_info[] = {
const AP_Param::GroupInfo AP_MotorsBlueROV::var_info[] = {
// variables from parent vehicle
AP_NESTEDGROUPINFO(AP_MotorsMulticopter, 0),
@ -38,7 +38,7 @@ const AP_Param::GroupInfo AP_MotorsTri::var_info[] = {
// @Description: Yaw servo reversing. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.
// @Values: -1:Reversed,1:Normal
// @User: Standard
AP_GROUPINFO("YAW_SV_REV", 31, AP_MotorsTri, _yaw_servo_reverse, 1),
AP_GROUPINFO("YAW_SV_REV", 31, AP_MotorsBlueROV, _yaw_servo_reverse, 1),
// @Param: YAW_SV_TRIM
// @DisplayName: Yaw Servo Trim/Center
@ -47,7 +47,7 @@ const AP_Param::GroupInfo AP_MotorsTri::var_info[] = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("YAW_SV_TRIM", 32, AP_MotorsTri, _yaw_servo_trim, 1500),
AP_GROUPINFO("YAW_SV_TRIM", 32, AP_MotorsBlueROV, _yaw_servo_trim, 1500),
// @Param: YAW_SV_MIN
// @DisplayName: Yaw Servo Min Position
@ -56,7 +56,7 @@ const AP_Param::GroupInfo AP_MotorsTri::var_info[] = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("YAW_SV_MIN", 33, AP_MotorsTri, _yaw_servo_min, 1250),
AP_GROUPINFO("YAW_SV_MIN", 33, AP_MotorsBlueROV, _yaw_servo_min, 1250),
// @Param: YAW_SV_MAX
// @DisplayName: Yaw Servo Max Position
@ -65,14 +65,14 @@ const AP_Param::GroupInfo AP_MotorsTri::var_info[] = {
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("YAW_SV_MAX", 34, AP_MotorsTri, _yaw_servo_max, 1750),
AP_GROUPINFO("YAW_SV_MAX", 34, AP_MotorsBlueROV, _yaw_servo_max, 1750),
AP_GROUPEND
};
// init
void AP_MotorsTri::Init()
void AP_MotorsBlueROV::Init()
{
// set update rate for the 3 motors (but not the servo on channel 7)
set_update_rate(_speed_hz);
@ -87,7 +87,7 @@ void AP_MotorsTri::Init()
}
// set update rate to motors - a value in hertz
void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
void AP_MotorsBlueROV::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
@ -101,7 +101,7 @@ void AP_MotorsTri::set_update_rate( uint16_t speed_hz )
}
// enable - starts allowing signals to be sent to motors
void AP_MotorsTri::enable()
void AP_MotorsBlueROV::enable()
{
// enable output channels
hal.rcout->enable_ch(AP_MOTORS_MOT_1);
@ -111,7 +111,7 @@ void AP_MotorsTri::enable()
}
// output_min - sends minimum values out to the motors
void AP_MotorsTri::output_min()
void AP_MotorsBlueROV::output_min()
{
// set lower limit flag
limit.throttle_lower = true;
@ -127,7 +127,7 @@ void AP_MotorsTri::output_min()
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsTri::get_motor_mask()
uint16_t AP_MotorsBlueROV::get_motor_mask()
{
// tri copter uses channels 1,2,4 and 7
return (1U << AP_MOTORS_MOT_1) |
@ -136,7 +136,7 @@ uint16_t AP_MotorsTri::get_motor_mask()
(1U << AP_MOTORS_CH_TRI_YAW);
}
void AP_MotorsTri::output_armed_not_stabilizing()
void AP_MotorsBlueROV::output_armed_not_stabilizing()
{
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t out_min = _throttle_radio_min + _min_throttle;
@ -188,7 +188,7 @@ void AP_MotorsTri::output_armed_not_stabilizing()
// sends commands to the motors
// TODO pull code that is common to output_armed_not_stabilizing into helper functions
void AP_MotorsTri::output_armed_stabilizing()
void AP_MotorsBlueROV::output_armed_stabilizing()
{
int16_t roll_pwm; // roll pwm value, initially calculated by calc_roll_pwm() but may be modified after, +/- 400
int16_t pitch_pwm; // pitch pwm value, initially calculated by calc_roll_pwm() but may be modified after, +/- 400
@ -304,7 +304,7 @@ void AP_MotorsTri::output_armed_stabilizing()
}
// output_disarmed - sends commands to the motors
void AP_MotorsTri::output_disarmed()
void AP_MotorsBlueROV::output_disarmed()
{
// Send minimum values to all motors
output_min();
@ -313,7 +313,7 @@ void AP_MotorsTri::output_disarmed()
// output_test - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsBlueROV::output_test(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
@ -345,7 +345,7 @@ void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
}
// calc_yaw_radio_output - calculate final radio output for yaw channel
int16_t AP_MotorsTri::calc_yaw_radio_output()
int16_t AP_MotorsBlueROV::calc_yaw_radio_output()
{
int16_t ret;

14
libraries/AP_Motors/AP_MotorsBlueROV.h
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@ -1,10 +1,10 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_MotorsTri.h
/// @brief Motor control class for Tricopters
/// @file AP_MotorsBlueROV.h
/// @brief Motor control class for ROVs
#ifndef __AP_MOTORS_TRI_H__
#define __AP_MOTORS_TRI_H__
#ifndef __AP_MOTORS_BLUEROV_H__
#define __AP_MOTORS_BLUEROV_H__
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
@ -15,11 +15,11 @@
#define AP_MOTORS_CH_TRI_YAW CH_7
/// @class AP_MotorsTri
class AP_MotorsTri : public AP_MotorsMulticopter {
class AP_MotorsBlueROV : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsTri(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsBlueROV(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMulticopter(loop_rate, speed_hz)
{
AP_Param::setup_object_defaults(this, var_info);
@ -65,4 +65,4 @@ protected:
AP_Int16 _yaw_servo_max; // Maximum angle limit of yaw servo
};
#endif // AP_MOTORSTRI
#endif // AP_MOTORSBLUEROV