aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Motors: add copter tailsitter differential torque frames

Browse Source
This commit is contained in:
Mark Whitehorn 2019-11-23 15:02:46 -07:00 committed by Andrew Tridgell
parent 95da094bfe
commit 68dcab3edb
3 changed files with 34 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_Motors/AP_MotorsMatrixTS.cpp
View File

@ -67,6 +67,11 @@ void AP_MotorsMatrixTS::output_to_motors()
// includes new scaling stability patch
void AP_MotorsMatrixTS::output_armed_stabilizing()
{
if (enable_yaw_torque) {
AP_MotorsMatrix::output_armed_stabilizing();
return;
}
float roll_thrust; // roll thrust input value, +/- 1.0
float pitch_thrust; // pitch thrust input value, +/- 1.0
float throttle_thrust; // throttle thrust input value, 0.0 - 1.0
@ -127,6 +132,7 @@ void AP_MotorsMatrixTS::setup_motors(motor_frame_class frame_class, motor_frame_
}
bool success = false;
enable_yaw_torque = true;
switch (frame_class) {
@ -140,6 +146,15 @@ void AP_MotorsMatrixTS::setup_motors(motor_frame_class frame_class, motor_frame_
case MOTOR_FRAME_QUAD:
switch (frame_type) {
case MOTOR_FRAME_TYPE_PLUS:
// differential torque for yaw: rotation directions specified below
add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_3, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
success = true;
break;
case MOTOR_FRAME_TYPE_NYT_PLUS:
// motors 1,2 on wings, motors 3,4 on vertical tail/subfin
// motors 1,2 are counter-rotating, as are motors 3,4
// left wing motor is CW (looking from front)
@ -148,14 +163,29 @@ void AP_MotorsMatrixTS::setup_motors(motor_frame_class frame_class, motor_frame_
add_motor(AP_MOTORS_MOT_2, -90, 0, 4);
add_motor(AP_MOTORS_MOT_3, 0, 0, 1);
add_motor(AP_MOTORS_MOT_4, 180, 0, 3);
enable_yaw_torque = false;
success = true;
break;
case MOTOR_FRAME_TYPE_X:
// PLUS_TS layout rotated 45 degrees about X axis
// differential torque for yaw: rotation directions specified below
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
success = true;
break;
case MOTOR_FRAME_TYPE_NYT_X:
// PLUS_TS layout rotated 45 degrees about X axis
// no differential torque for yaw: wing and fin motors counter-rotating
add_motor(AP_MOTORS_MOT_1, 45, 0, 1);
add_motor(AP_MOTORS_MOT_2, -135, 0, 3);
add_motor(AP_MOTORS_MOT_3, -45, 0, 4);
add_motor(AP_MOTORS_MOT_4, 135, 0, 2);
enable_yaw_torque = false;
success = true;
break;
default:

2
libraries/AP_Motors/AP_MotorsMatrixTS.h
View File

@ -22,6 +22,8 @@ public:
virtual void output_motor_mask(float thrust, uint8_t mask, float rudder_dt) override;
protected:
bool enable_yaw_torque; // differential torque for yaw control
// configures the motors for the defined frame_class and frame_type
virtual void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;

2
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -59,6 +59,8 @@ public:
MOTOR_FRAME_TYPE_DJI_X = 13, // X frame, DJI ordering
MOTOR_FRAME_TYPE_CW_X = 14, // X frame, clockwise ordering
MOTOR_FRAME_TYPE_I = 15, // (sideways H) octo only
MOTOR_FRAME_TYPE_NYT_PLUS = 16, // plus frame, no differential torque for yaw
MOTOR_FRAME_TYPE_NYT_X = 17, // X frame, no differential torque for yaw
};
// Constructor