66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
#pragma once
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#if AP_SCRIPTING_ENABLED
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#include "AP_MotorsMatrix.h"
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class AP_MotorsMatrix_Scripting_Dynamic : public AP_MotorsMatrix {
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public:
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// Constructor
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AP_MotorsMatrix_Scripting_Dynamic(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMatrix(loop_rate, speed_hz)
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{
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_MotorsMatrix_Scripting_Dynamic must be singleton");
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}
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_singleton = this;
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};
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// get singleton instance
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static AP_MotorsMatrix_Scripting_Dynamic *get_singleton() {
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return _singleton;
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}
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struct factor_table {
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float roll[AP_MOTORS_MAX_NUM_MOTORS];
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float pitch[AP_MOTORS_MAX_NUM_MOTORS];
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float yaw[AP_MOTORS_MAX_NUM_MOTORS];
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float throttle[AP_MOTORS_MAX_NUM_MOTORS];
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};
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// base class method must not be used
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void init(motor_frame_class frame_class, motor_frame_type frame_type) override {};
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// Init to be called from scripting
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bool init(uint8_t expected_num_motors) override;
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// add a motor and give its testing order
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bool add_motor(uint8_t motor_num, uint8_t testing_order);
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// add a interpolation point table
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void load_factors(const factor_table &table);
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// output - sends commands to the motors
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void output_to_motors() override;
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protected:
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// Do not apply thrust compensation, this is used by Quadplane tiltrotors
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// assume the compensation is done in the mixer and should not be done by quadplane
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void thrust_compensation(void) override {};
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const char* _get_frame_string() const override { return "Dynamic Matrix"; }
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private:
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// True when received a factors table, will only init having received a table
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bool had_table;
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// For loading of new factors, cannot load while in use
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HAL_Semaphore _sem;
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static AP_MotorsMatrix_Scripting_Dynamic *_singleton;
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};
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#endif // AP_SCRIPTING_ENABLED
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