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SITL: added support for servo slew rates and retract servos

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this is for tiltrotors with retract servos
This commit is contained in:
Andrew Tridgell 2016-07-03 22:02:09 +10:00
parent c368cb07c2
commit f387f248d3
5 changed files with 65 additions and 17 deletions
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20
libraries/SITL/SIM_Frame.cpp
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@ -24,7 +24,7 @@
using namespace SITL;
static const Motor quad_plus_motors[] =
static Motor quad_plus_motors[] =
{
Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
@ -32,7 +32,7 @@ static const Motor quad_plus_motors[] =
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3),
};
static const Motor quad_x_motors[] =
static Motor quad_x_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
@ -40,7 +40,7 @@ static const Motor quad_x_motors[] =
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
};
static const Motor hexa_motors[] =
static Motor hexa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4),
@ -50,7 +50,7 @@ static const Motor hexa_motors[] =
Motor(AP_MOTORS_MOT_6, 120, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3)
};
static const Motor hexax_motors[] =
static Motor hexax_motors[] =
{
Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
Motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
@ -60,7 +60,7 @@ static const Motor hexax_motors[] =
Motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4)
};
static const Motor octa_motors[] =
static Motor octa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_2, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
@ -72,7 +72,7 @@ static const Motor octa_motors[] =
Motor(AP_MOTORS_MOT_8, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3)
};
static const Motor octa_quad_motors[] =
static Motor octa_quad_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7),
@ -84,21 +84,21 @@ static const Motor octa_quad_motors[] =
Motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6)
};
static const Motor tri_motors[] =
static Motor tri_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
};
static const Motor tilttri_motors[] =
static Motor tilttri_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3, -1, 0, 0, AP_MOTORS_MOT_8, 0, -90),
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, AP_MOTORS_MOT_7, 60, -60, -1, 0, 0),
};
static const Motor y6_motors[] =
static Motor y6_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5),
@ -111,7 +111,7 @@ static const Motor y6_motors[] =
/*
FireflyY6 is a Y6 with front motors tiltable using servo on channel 9 (output 8)
*/
static const Motor firefly_motors[] =
static Motor firefly_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 8, 0, -90),
Motor(AP_MOTORS_MOT_2, -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5, -1, 0, 0, 8, 0, -90),

4
libraries/SITL/SIM_Frame.h
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@ -31,11 +31,11 @@ class Frame {
public:
const char *name;
uint8_t num_motors;
const Motor *motors;
Motor *motors;
Frame(const char *_name,
uint8_t _num_motors,
const Motor *_motors) :
Motor *_motors) :
name(_name),
num_motors(_num_motors),
motors(_motors) {}

34
libraries/SITL/SIM_Motor.cpp
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@ -27,7 +27,7 @@ void Motor::calculate_forces(const Aircraft::sitl_input &input,
const float thrust_scale,
uint8_t motor_offset,
Vector3f &rot_accel,
Vector3f &thrust) const
Vector3f &thrust)
{
// fudge factors
const float arm_scale = radians(5000);
@ -47,10 +47,12 @@ void Motor::calculate_forces(const Aircraft::sitl_input &input,
// work out roll and pitch of motor relative to it pointing straight up
float roll = 0, pitch = 0;
uint64_t now = AP_HAL::micros64();
// possibly roll and/or pitch the motor
if (roll_servo >= 0) {
uint16_t servoval = input.servos[roll_servo+motor_offset];
uint16_t servoval = update_servo(input.servos[roll_servo+motor_offset], now, last_roll_value);
if (roll_min < roll_max) {
roll = constrain_float(roll_min + (servoval-1000)*0.001*(roll_max-roll_min), roll_min, roll_max);
} else {
@ -58,13 +60,14 @@ void Motor::calculate_forces(const Aircraft::sitl_input &input,
}
}
if (pitch_servo >= 0) {
uint16_t servoval = input.servos[pitch_servo+motor_offset];
uint16_t servoval = update_servo(input.servos[pitch_servo+motor_offset], now, last_pitch_value);
if (pitch_min < pitch_max) {
pitch = constrain_float(pitch_min + (servoval-1000)*0.001*(pitch_max-pitch_min), pitch_min, pitch_max);
} else {
pitch = constrain_float(pitch_max + (2000-servoval)*0.001*(pitch_min-pitch_max), pitch_max, pitch_min);
}
}
last_change_usec = now;
// possibly rotate the thrust vector and the rotor torque
if (!is_zero(roll) || !is_zero(pitch)) {
@ -81,3 +84,28 @@ void Motor::calculate_forces(const Aircraft::sitl_input &input,
thrust = thrust * thrust_scale;
}
/*
update and return current value of a servo. Calculated as 1000..2000
*/
uint16_t Motor::update_servo(uint16_t demand, uint64_t time_usec, float &last_value)
{
if (servo_rate <= 0) {
return demand;
}
if (servo_type == SERVO_RETRACT) {
// handle retract servos
if (demand > 1700) {
demand = 2000;
} else if (demand < 1300) {
demand = 1000;
} else {
demand = last_value;
}
}
demand = constrain_int16(demand, 1000, 2000);
float dt = (time_usec - last_change_usec) * 1.0e-6f;
// assume servo moves through 90 degrees over 1000 to 2000
float max_change = 1000 * (dt / servo_rate) * 60.0f / 90.0f;
last_value = constrain_float(demand, last_value-max_change, last_value+max_change);
return uint16_t(last_value+0.5);
}

12
libraries/SITL/SIM_Motor.h
View File

@ -39,6 +39,12 @@ public:
int8_t pitch_servo = -1;
float pitch_min, pitch_max;
// support for servo slew rate
enum {SERVO_NORMAL, SERVO_RETRACT} servo_type;
float servo_rate = 0.24; // seconds per 60 degrees
uint64_t last_change_usec;
float last_roll_value, last_pitch_value;
Motor(uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order) :
servo(_servo), // what servo output drives this motor
angle(_angle), // angle in degrees from front
@ -63,11 +69,13 @@ public:
pitch_min(_pitch_min),
pitch_max(_pitch_max)
{}
void calculate_forces(const Aircraft::sitl_input &input,
float thrust_scale,
uint8_t motor_offset,
Vector3f &rot_accel, // rad/sec
Vector3f &body_thrust) const; // Z is down
Vector3f &body_thrust); // Z is down
uint16_t update_servo(uint16_t demand, uint64_t time_usec, float &last_value);
};
}

12
libraries/SITL/SIM_QuadPlane.cpp
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@ -57,6 +57,10 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
elevons = true;
// fwd motor gives zero thrust
thrust_scale = 0;
} else if (strstr(frame_str, "cl84")) {
frame_type = "tilttri";
// fwd motor gives zero thrust
thrust_scale = 0;
}
frame = Frame::find_frame(frame_type);
if (frame == nullptr) {
@ -64,6 +68,14 @@ QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
exit(1);
}
if (strstr(frame_str, "cl84")) {
// setup retract servos at front
frame->motors[0].servo_type = Motor::SERVO_RETRACT;
frame->motors[0].servo_rate = 4*60.0/90; // 4 seconds to change
frame->motors[1].servo_type = Motor::SERVO_RETRACT;
frame->motors[1].servo_rate = 4*60.0/90; // 4 seconds to change
}
// leave first 4 servos free for plane
frame->motor_offset = 4;