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Changed the majority of the BlueROV motor library file. Haven't compile tested yet because this commit was made by accident. Whoops. Will commit a fix if it breaks.

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This commit is contained in:
Rustom Jehangir 2016-01-01 15:22:48 -08:00
parent 45699c845d
commit f1d7cb01b1
2 changed files with 107 additions and 109 deletions
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200
libraries/AP_Motors/AP_MotorsBlueROV.cpp
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@ -80,10 +80,13 @@ void AP_MotorsBlueROV::Init()
// set the motor_enabled flag so that the ESCs can be calibrated like other frame types
motor_enabled[AP_MOTORS_MOT_1] = true;
motor_enabled[AP_MOTORS_MOT_2] = true;
motor_enabled[AP_MOTORS_MOT_3] = true;
motor_enabled[AP_MOTORS_MOT_4] = true;
motor_enabled[AP_MOTORS_MOT_5] = true;
motor_enabled[AP_MOTORS_MOT_6] = true;
// disable CH7 from being used as an aux output (i.e. for camera gimbal, etc)
RC_Channel_aux::disable_aux_channel(AP_MOTORS_CH_TRI_YAW);
// disable CH7 from being used as an aux output (i.e. for lights, etc)
RC_Channel_aux::disable_aux_channel(AP_MOTORS_CH_CAM_PITCH);
}
// set update rate to motors - a value in hertz
@ -96,7 +99,10 @@ void AP_MotorsBlueROV::set_update_rate( uint16_t speed_hz )
uint32_t mask =
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_4;
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 |
1U << AP_MOTORS_MOT_5 |
1U << AP_MOTORS_MOT_6;
hal.rcout->set_freq(mask, _speed_hz);
}
@ -106,8 +112,11 @@ void AP_MotorsBlueROV::enable()
// enable output channels
hal.rcout->enable_ch(AP_MOTORS_MOT_1);
hal.rcout->enable_ch(AP_MOTORS_MOT_2);
hal.rcout->enable_ch(AP_MOTORS_MOT_3);
hal.rcout->enable_ch(AP_MOTORS_MOT_4);
hal.rcout->enable_ch(AP_MOTORS_CH_TRI_YAW);
hal.rcout->enable_ch(AP_MOTORS_MOT_5);
hal.rcout->enable_ch(AP_MOTORS_MOT_6);
hal.rcout->enable_ch(AP_MOTORS_CH_CAM_PITCH);
}
// output_min - sends minimum values out to the motors
@ -116,12 +125,17 @@ void AP_MotorsBlueROV::output_min()
// set lower limit flag
limit.throttle_lower = true;
int16_t out_stopped = 1500;
// send minimum value to each motor
hal.rcout->cork();
hal.rcout->write(AP_MOTORS_MOT_1, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_2, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_MOT_4, _throttle_radio_min);
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
hal.rcout->write(AP_MOTORS_MOT_1, out_stopped);
hal.rcout->write(AP_MOTORS_MOT_2, out_stopped);
hal.rcout->write(AP_MOTORS_MOT_3, out_stopped);
hal.rcout->write(AP_MOTORS_MOT_4, out_stopped);
hal.rcout->write(AP_MOTORS_MOT_5, out_stopped);
hal.rcout->write(AP_MOTORS_MOT_6, out_stopped);
hal.rcout->write(AP_MOTORS_CH_CAM_PITCH, _yaw_servo_trim);
hal.rcout->push();
}
@ -129,19 +143,23 @@ void AP_MotorsBlueROV::output_min()
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsBlueROV::get_motor_mask()
{
// tri copter uses channels 1,2,4 and 7
// BlueROV uses channels 1,2,3,4,5,6 and 7
return (1U << AP_MOTORS_MOT_1) |
(1U << AP_MOTORS_MOT_2) |
(1U << AP_MOTORS_MOT_3) |
(1U << AP_MOTORS_MOT_4) |
(1U << AP_MOTORS_CH_TRI_YAW);
(1U << AP_MOTORS_MOT_5) |
(1U << AP_MOTORS_MOT_6) |
(1U << AP_MOTORS_CH_CAM_PITCH);
}
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;
int16_t out_max = _throttle_radio_max;
int16_t motor_out[AP_MOTORS_MOT_4+1];
int16_t throttle_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t out_min = 1100;
int16_t out_max = 1900;
int16_t out_stopped = 1500;
int16_t motor_out[AP_MOTORS_MOT_6+1];
// initialize limits flags
limit.roll_pitch = true;
@ -160,28 +178,37 @@ void AP_MotorsBlueROV::output_armed_not_stabilizing()
limit.throttle_upper = true;
}
throttle_radio_output = calc_throttle_radio_output();
throttle_output = out_stopped + _throttle_control_input;
motor_out[AP_MOTORS_MOT_1] = throttle_radio_output;
motor_out[AP_MOTORS_MOT_2] = throttle_radio_output;
motor_out[AP_MOTORS_MOT_4] = throttle_radio_output;
motor_out[AP_MOTORS_MOT_1] = throttle_output;
motor_out[AP_MOTORS_MOT_2] = throttle_output;
motor_out[AP_MOTORS_MOT_3] = throttle_output;
motor_out[AP_MOTORS_MOT_4] = throttle_output;
motor_out[AP_MOTORS_MOT_5] = throttle_output;
motor_out[AP_MOTORS_MOT_6] = throttle_output;
if(throttle_radio_output >= out_min) {
//if(throttle_output >= out_min) {
// adjust for thrust curve and voltage scaling
motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
}
//motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
//motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
//motor_out[AP_MOTORS_MOT_3] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_3], out_min, out_max);
//motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
//motor_out[AP_MOTORS_MOT_5] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_5], out_min, out_max);
//motor_out[AP_MOTORS_MOT_6] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_6], out_min, out_max);
//}
hal.rcout->cork();
// send output to each motor
hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out[AP_MOTORS_MOT_3]);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
hal.rcout->write(AP_MOTORS_MOT_5, motor_out[AP_MOTORS_MOT_5]);
hal.rcout->write(AP_MOTORS_MOT_6, motor_out[AP_MOTORS_MOT_6]);
// send centering signal to yaw servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, _yaw_servo_trim);
hal.rcout->write(AP_MOTORS_CH_CAM_PITCH, _yaw_servo_trim);
hal.rcout->push();
}
@ -192,11 +219,14 @@ 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
int16_t throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t throttle_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
int16_t forward_output; // total forward value
int16_t strafe_output; // total strafe value
int16_t yaw_radio_output; // final yaw pwm value sent to motors, typically ~1100-1900
int16_t out_min = _throttle_radio_min + _min_throttle;
int16_t out_max = _throttle_radio_max;
int16_t motor_out[AP_MOTORS_MOT_4+1];
int16_t out_min = 1100;
int16_t out_max = 1900;
int16_t out_stopped = 1500;
int16_t motor_out[AP_MOTORS_MOT_6+1];
// initialize limits flags
limit.roll_pitch = false;
@ -217,88 +247,51 @@ void AP_MotorsBlueROV::output_armed_stabilizing()
// tricopters limit throttle to 80%
// To-Do: implement improved stability patch and remove this limit
if (_throttle_control_input > 800) {
_throttle_control_input = 800;
limit.throttle_upper = true;
}
//if (_throttle_control_input > 800) {
// _throttle_control_input = 800;
// limit.throttle_upper = true;
//}
roll_pwm = calc_roll_pwm();
pitch_pwm = calc_pitch_pwm();
throttle_radio_output = calc_throttle_radio_output();
throttle_output = _throttle_control_input;
forward_output = _forward_control_input; // ToDo: Clean this up to match others
strafe_output = _strafe_control_input;
yaw_radio_output = calc_yaw_radio_output();
// if we are not sending a throttle output, we cut the motors
if( is_zero(_throttle_control_input) ) {
// range check spin_when_armed
if (_spin_when_armed_ramped < 0) {
_spin_when_armed_ramped = 0;
}
if (_spin_when_armed_ramped > _min_throttle) {
_spin_when_armed_ramped = _min_throttle;
}
motor_out[AP_MOTORS_MOT_1] = _throttle_radio_min + _spin_when_armed_ramped;
motor_out[AP_MOTORS_MOT_2] = _throttle_radio_min + _spin_when_armed_ramped;
motor_out[AP_MOTORS_MOT_4] = _throttle_radio_min + _spin_when_armed_ramped;
}else{
int16_t roll_out = (float)(roll_pwm * 0.866f);
int16_t pitch_out = pitch_pwm / 2;
// check if throttle is below limit
if (_throttle_control_input <= _min_throttle) {
limit.throttle_lower = true;
_throttle_control_input = _min_throttle;
throttle_radio_output = calc_throttle_radio_output();
}
// TODO: set limits.roll_pitch and limits.yaw
//left front
motor_out[AP_MOTORS_MOT_2] = throttle_radio_output + roll_out + pitch_out;
//right front
motor_out[AP_MOTORS_MOT_1] = throttle_radio_output - roll_out + pitch_out;
// rear
motor_out[AP_MOTORS_MOT_4] = throttle_radio_output - pitch_pwm;
// Tridge's stability patch
if(motor_out[AP_MOTORS_MOT_1] > out_max) {
motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max);
motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max);
motor_out[AP_MOTORS_MOT_1] = out_max;
}
if(motor_out[AP_MOTORS_MOT_2] > out_max) {
motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max);
motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max);
motor_out[AP_MOTORS_MOT_2] = out_max;
}
if(motor_out[AP_MOTORS_MOT_4] > out_max) {
motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max);
motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max);
motor_out[AP_MOTORS_MOT_4] = out_max;
}
//left front vertical
motor_out[AP_MOTORS_MOT_1] = out_stopped + _throttle_control_input + roll_pwm + 0.5*pitch_pwm + 0.2*strafe_output;
//left forward
motor_out[AP_MOTORS_MOT_2] = out_stopped + forward_output + yaw_radio_output;
//rear vertical
motor_out[AP_MOTORS_MOT_3] = out_stopped + _throttle_control_input + roll_pwm - pitch_pwm;
//right forward
motor_out[AP_MOTORS_MOT_4] = out_stopped + forward_output - yaw_radio_output;
//right front vertical
motor_out[AP_MOTORS_MOT_5] = out_stopped + _throttle_control_input - roll_pwm + 0.5*pitch_pwm - 0.2*strafe_output;
// strafe
motor_out[AP_MOTORS_MOT_6] = out_stopped + strafe_output;
// adjust for thrust curve and voltage scaling
motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
// ensure motors don't drop below a minimum value and stop
motor_out[AP_MOTORS_MOT_1] = MAX(motor_out[AP_MOTORS_MOT_1], out_min);
motor_out[AP_MOTORS_MOT_2] = MAX(motor_out[AP_MOTORS_MOT_2], out_min);
motor_out[AP_MOTORS_MOT_4] = MAX(motor_out[AP_MOTORS_MOT_4], out_min);
}
//motor_out[AP_MOTORS_MOT_1] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_1], out_min, out_max);
//motor_out[AP_MOTORS_MOT_2] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_2], out_min, out_max);
//motor_out[AP_MOTORS_MOT_3] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_3], out_min, out_max);
//motor_out[AP_MOTORS_MOT_4] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_4], out_min, out_max);
//motor_out[AP_MOTORS_MOT_5] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_5], out_min, out_max);
//motor_out[AP_MOTORS_MOT_6] = apply_thrust_curve_and_volt_scaling(motor_out[AP_MOTORS_MOT_6], out_min, out_max);
hal.rcout->cork();
// send output to each motor
hal.rcout->write(AP_MOTORS_MOT_1, motor_out[AP_MOTORS_MOT_1]);
hal.rcout->write(AP_MOTORS_MOT_2, motor_out[AP_MOTORS_MOT_2]);
hal.rcout->write(AP_MOTORS_MOT_3, motor_out[AP_MOTORS_MOT_3]);
hal.rcout->write(AP_MOTORS_MOT_4, motor_out[AP_MOTORS_MOT_4]);
hal.rcout->write(AP_MOTORS_MOT_5, motor_out[AP_MOTORS_MOT_5]);
hal.rcout->write(AP_MOTORS_MOT_6, motor_out[AP_MOTORS_MOT_6]);
// send out to yaw command to tail servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, yaw_radio_output);
hal.rcout->write(AP_MOTORS_CH_CAM_PITCH, yaw_radio_output);
hal.rcout->push();
}
@ -323,20 +316,25 @@ void AP_MotorsBlueROV::output_test(uint8_t motor_seq, int16_t pwm)
// output to motors and servos
switch (motor_seq) {
case 1:
// front right motor
hal.rcout->write(AP_MOTORS_MOT_1, pwm);
break;
case 2:
// back motor
hal.rcout->write(AP_MOTORS_MOT_4, pwm);
hal.rcout->write(AP_MOTORS_MOT_2, pwm);
break;
case 3:
// back servo
hal.rcout->write(AP_MOTORS_CH_TRI_YAW, pwm);
hal.rcout->write(AP_MOTORS_MOT_3, pwm);
break;
case 4:
// front left motor
hal.rcout->write(AP_MOTORS_MOT_2, pwm);
hal.rcout->write(AP_MOTORS_MOT_4, pwm);
break;
case 5:
hal.rcout->write(AP_MOTORS_MOT_5, pwm);
break;
case 6:
hal.rcout->write(AP_MOTORS_MOT_6, pwm);
break;
case 7:
hal.rcout->write(AP_MOTORS_CH_CAM_PITCH, pwm);
break;
default:
// do nothing

4
libraries/AP_Motors/AP_MotorsBlueROV.h
View File

@ -11,8 +11,8 @@
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include "AP_MotorsMulticopter.h"
// tail servo uses channel 7
#define AP_MOTORS_CH_TRI_YAW CH_7
// pitch servo uses channel 7
#define AP_MOTORS_CH_CAM_PITCH CH_7
/// @class AP_MotorsTri
class AP_MotorsBlueROV : public AP_MotorsMulticopter {