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AP_Motors: allow custom frame string from scripting

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This commit is contained in:
Iampete1 2022-01-01 15:55:34 +00:00 committed by Andrew Tridgell
parent ca1b5b1db2
commit 70897b5e38
14 changed files with 69 additions and 29 deletions
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2
libraries/AP_Motors/AP_Motors6DOF.h
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@ -29,8 +29,6 @@ public:
SUB_FRAME_CUSTOM
} sub_frame_t;
const char* get_frame_string() const override { return _frame_class_string; };
// Override parent
void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;

4
libraries/AP_Motors/AP_MotorsCoax.h
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@ -49,8 +49,6 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
const char* get_frame_string() const override { return "COAX"; }
protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
@ -58,4 +56,6 @@ protected:
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_yt_ccw;
float _thrust_yt_cw;
const char* _get_frame_string() const override { return "COAX"; }
};

4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -159,8 +159,6 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
const char* get_frame_string() const override { return "HELI"; }
protected:
// manual servo modes (used for setup)
@ -227,6 +225,8 @@ protected:
// updates the takeoff collective flag indicating that current collective is greater than collective required to indicate takeoff.
void update_takeoff_collective_flag(float coll_out);
const char* _get_frame_string() const override { return "HELI"; }
// enum values for HOVER_LEARN parameter
enum HoverLearn {
HOVER_LEARN_DISABLED = 0,

4
libraries/AP_Motors/AP_MotorsHeli_Dual.h
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@ -95,8 +95,6 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
const char* get_frame_string() const override { return "HELI_DUAL"; }
protected:
// init_outputs
@ -111,6 +109,8 @@ protected:
// move_actuators - moves swash plate to attitude of parameters passed in
void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;
const char* _get_frame_string() const override { return "HELI_DUAL"; }
// objects we depend upon
AP_MotorsHeli_Swash _swashplate1; // swashplate1
AP_MotorsHeli_Swash _swashplate2; // swashplate2

4
libraries/AP_Motors/AP_MotorsHeli_Quad.h
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@ -74,8 +74,6 @@ public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
const char* get_frame_string() const override { return "HELI_QUAD"; }
protected:
// init_outputs
@ -90,6 +88,8 @@ protected:
// move_actuators - moves swash plate to attitude of parameters passed in
void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;
const char* _get_frame_string() const override { return "HELI_QUAD"; }
// rate factors
float _rollFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
float _pitchFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];

6
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -76,9 +76,6 @@ public:
// return the pitch factor of any motor
float get_pitch_factor(uint8_t i) override { return _pitch_factor[i]; }
const char* get_frame_string() const override { return _frame_class_string; }
const char* get_type_string() const override { return _frame_type_string; }
// disable the use of motor torque to control yaw. Used when an external mechanism such
// as vectoring is used for yaw control
void disable_yaw_torque(void) override;
@ -134,6 +131,9 @@ protected:
// call vehicle supplied thrust compensation if set
void thrust_compensation(void) override;
const char* _get_frame_string() const override { return _frame_class_string; }
const char* get_type_string() const override { return _frame_type_string; }
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)

4
libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.h
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@ -37,8 +37,6 @@ public:
// if the expected number of motors have been setup then set as initalized
bool init(uint8_t expected_num_motors) override;
const char* get_frame_string() const override { return "6DoF scripting"; }
protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
@ -46,6 +44,8 @@ protected:
// nothing to do for setup, scripting will mark as initalized when done
void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override {};
const char* _get_frame_string() const override { return "6DoF scripting"; }
float _forward_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to forward thrust
float _right_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to right thrust

4
libraries/AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h
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@ -43,14 +43,14 @@ public:
// output - sends commands to the motors
void output_to_motors() override;
const char* get_frame_string() const override { return "Dynamic Matrix"; }
protected:
// Do not apply thrust compensation, this is used by Quadplane tiltrotors
// assume the compensation is done in the mixer and should not be done by quadplane
void thrust_compensation(void) override {};
const char* _get_frame_string() const override { return "Dynamic Matrix"; }
private:
// True when received a factors table, will only init having received a table

4
libraries/AP_Motors/AP_MotorsSingle.h
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@ -49,12 +49,12 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
const char* get_frame_string() const override { return "SINGLE"; }
protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
const char* _get_frame_string() const override { return "SINGLE"; }
int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_out;

4
libraries/AP_Motors/AP_MotorsTailsitter.h
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@ -33,12 +33,12 @@ public:
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
const char* get_frame_string() const override { return "TAILSITTER"; }
protected:
// calculate motor outputs
void output_armed_stabilizing() override;
const char* _get_frame_string() const override { return "TAILSITTER"; }
// calculated outputs
float _throttle; // 0..1
float _tilt_left; // -1..1

6
libraries/AP_Motors/AP_MotorsTri.h
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@ -54,15 +54,15 @@ public:
// using copter motors for forward flight
float get_roll_factor(uint8_t i) override;
const char* get_frame_string() const override { return "TRI"; }
protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
// call vehicle supplied thrust compensation if set
void thrust_compensation(void) override;
const char* _get_frame_string() const override { return "TRI"; }
// parameters
float _pivot_angle; // Angle of yaw pivot

31
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -52,7 +52,11 @@ void AP_Motors::get_frame_and_type_string(char *buffer, uint8_t buflen) const
{
const char *frame_str = get_frame_string();
const char *type_str = get_type_string();
if (type_str != nullptr && strlen(type_str)) {
if (type_str != nullptr && strlen(type_str)
#if AP_SCRIPTING_ENABLED
&& custom_frame_string == nullptr
#endif
) {
hal.util->snprintf(buffer, buflen, "Frame: %s/%s", frame_str, type_str);
} else {
hal.util->snprintf(buffer, buflen, "Frame: %s", frame_str);
@ -227,6 +231,31 @@ bool AP_Motors::is_digital_pwm_type() const
return false;
}
// return string corresponding to frame_class
const char* AP_Motors::get_frame_string() const
{
#if AP_SCRIPTING_ENABLED
if (custom_frame_string != nullptr) {
return custom_frame_string;
}
#endif
return _get_frame_string();
}
#if AP_SCRIPTING_ENABLED
// set custom frame string
void AP_Motors::set_frame_string(const char * str) {
if (custom_frame_string != nullptr) {
return;
}
const size_t len = strlen(str)+1;
custom_frame_string = new char[len];
if (custom_frame_string != nullptr) {
strncpy(custom_frame_string, str, len);
}
}
#endif
namespace AP {
AP_Motors *motors()
{

19
libraries/AP_Motors/AP_Motors_Class.h
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@ -73,7 +73,7 @@ public:
};
// return string corresponding to frame_class
virtual const char* get_frame_string() const = 0;
const char* get_frame_string() const;
enum motor_frame_type {
MOTOR_FRAME_TYPE_PLUS = 0,
@ -95,8 +95,6 @@ public:
MOTOR_FRAME_TYPE_Y4 = 19, //Y4 Quadrotor frame
};
// return string corresponding to frame_type
virtual const char* get_type_string() const { return ""; }
// returns a formatted string into buffer, e.g. "QUAD/X"
void get_frame_and_type_string(char *buffer, uint8_t buflen) const;
@ -256,6 +254,10 @@ public:
// direct motor write
virtual void rc_write(uint8_t chan, uint16_t pwm);
#if AP_SCRIPTING_ENABLED
void set_frame_string(const char * str);
#endif
protected:
// output functions that should be overloaded by child classes
virtual void output_armed_stabilizing() = 0;
@ -331,6 +333,17 @@ protected:
PWM_TYPE_DSHOT1200 = 7,
PWM_TYPE_PWM_RANGE = 8 };
// return string corresponding to frame_class
virtual const char* _get_frame_string() const = 0;
// return string corresponding to frame_type
virtual const char* get_type_string() const { return ""; }
#if AP_SCRIPTING_ENABLED
// Custom frame string set from scripting
char* custom_frame_string;
#endif
private:
bool _armed; // 0 if disarmed, 1 if armed

2
libraries/AP_Motors/examples/expo_inverse_test/expo_inverse_test.cpp
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@ -39,7 +39,7 @@ public:
void init(motor_frame_class frame_class, motor_frame_type frame_type) override {};
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {};
void output_test_seq(uint8_t motor_seq, int16_t pwm) override {};
const char* get_frame_string() const override { return "TEST"; }
const char* _get_frame_string() const override { return "TEST"; }
void output_armed_stabilizing() override {};
void output_to_motors() override {};