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AP_Motors: fixed heli RSC output range and float conversion

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adds H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
This commit is contained in:
Andrew Tridgell 2016-06-04 18:03:16 +10:00
parent a512e807dc
commit f58d837026
3 changed files with 37 additions and 3 deletions
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11
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
View File

@ -29,7 +29,7 @@ void AP_MotorsHeli_RSC::init_servo()
}
// set_power_output_range
void AP_MotorsHeli_RSC::set_power_output_range(uint16_t power_low, uint16_t power_high)
void AP_MotorsHeli_RSC::set_power_output_range(float power_low, float power_high)
{
_power_output_low = power_low;
_power_output_high = power_high;
@ -162,6 +162,13 @@ void AP_MotorsHeli_RSC::write_rsc(float servo_out)
// ToDo: We should probably use RC_Channel_Aux to avoid this problem
return;
} else {
RC_Channel_aux::set_servo_out_for(RC_Channel_aux::k_heli_rsc, servo_out * 1000.0f);
// calculate PWM value based on H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
uint16_t pwm = servo_out * (_pwm_max - _pwm_min);
if (_pwm_rev >= 0) {
pwm = _pwm_min + pwm;
} else {
pwm = _pwm_max - pwm;
}
RC_Channel_aux::set_radio(_aux_fn, pwm);
}
}

8
libraries/AP_Motors/AP_MotorsHeli_RSC.h
View File

@ -23,6 +23,8 @@ enum RotorControlMode {
class AP_MotorsHeli_RSC {
public:
friend class AP_MotorsHeli_Single;
AP_MotorsHeli_RSC(RC_Channel_aux::Aux_servo_function_t aux_fn,
uint8_t default_channel,
uint16_t loop_rate) :
@ -69,7 +71,7 @@ public:
void set_runup_time(int8_t runup_time) { _runup_time = runup_time; }
// set_power_output_range
void set_power_output_range(uint16_t power_low, uint16_t power_high);
void set_power_output_range(float power_low, float power_high);
// set_motor_load
void set_motor_load(float load) { _load_feedforward = load; }
@ -102,6 +104,10 @@ private:
float _power_output_range = 0.0f; // maximum range of output power
float _load_feedforward = 0.0f; // estimate of motor load, range 0-1.0f
AP_Int16 _pwm_min;
AP_Int16 _pwm_max;
AP_Int8 _pwm_rev;
// update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
void update_rotor_ramp(float rotor_ramp_input);

21
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -132,6 +132,27 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @Path: ../RC_Channel/RC_Channel.cpp
AP_SUBGROUPINFO(_yaw_servo, "SV4_", 15, AP_MotorsHeli_Single, RC_Channel),
// @Param: RSC_PWM_MIN
// @DisplayName: RSC PWM output miniumum
// @Description: This sets the PWM output on RSC channel for maximum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MIN", 16, AP_MotorsHeli_Single, _main_rotor._pwm_min, 1000),
// @Param: RSC_PWM_MAX
// @DisplayName: RSC PWM output maxiumum
// @Description: This sets the PWM output on RSC channel for miniumum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MAX", 17, AP_MotorsHeli_Single, _main_rotor._pwm_max, 2000),
// @Param: RSC_PWM_REV
// @DisplayName: RSC PWM reversal
// @Description: This controls reversal of the RSC channel output
// @Values: -1:Reversed,1:Normal
// @User: Standard
AP_GROUPINFO("RSC_PWM_REV", 18, AP_MotorsHeli_Single, _main_rotor._pwm_rev, 1),
// parameters up to and including 29 are reserved for tradheli
AP_GROUPEND