ardupilot/libraries/AP_Motors/AP_MotorsHeli.h

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/// @file	AP_MotorsHeli.h
/// @brief	Motor control class for Traditional Heli

#ifndef __AP_MOTORS_HELI_H__
#define __AP_MOTORS_HELI_H__

#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h>     // RC Channel Library
#include "AP_Motors.h"

// output channels
#define AP_MOTORS_HELI_EXT_GYRO                 CH_7    // tail servo uses channel 7
#define AP_MOTORS_HELI_EXT_RSC                  CH_8    // main rotor controlled with channel 8

// maximum number of swashplate servos
#define AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS    3

// servo output rates
#define AP_MOTORS_HELI_SPEED_DEFAULT            125     // default servo update rate for helicopters
#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS     125     // update rate for digital servos
#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS      125     // update rate for analog servos

// servo position defaults
#define AP_MOTORS_HELI_SERVO1_POS               -60
#define AP_MOTORS_HELI_SERVO2_POS                60
#define AP_MOTORS_HELI_SERVO3_POS               180

// swash type definitions
#define AP_MOTORS_HELI_SWASH_CCPM               0
#define AP_MOTORS_HELI_SWASH_H1                 1

// default swash min and max angles and positions
#define AP_MOTORS_HELI_SWASH_ROLL_MAX           4500
#define AP_MOTORS_HELI_SWASH_PITCH_MAX          4500
#define AP_MOTORS_HELI_COLLECTIVE_MIN           1250
#define AP_MOTORS_HELI_COLLECTIVE_MAX           1750
#define AP_MOTORS_HELI_COLLECTIVE_MID           1500

// swash min and max position (expressed as percentage) while in stabilize mode
#define AP_MOTORS_HELI_STAB_COL_MIN             0
#define AP_MOTORS_HELI_STAB_COL_MAX             100

// default external gyro gain (ch7 out)
#define AP_MOTORS_HELI_EXT_GYRO_GAIN            1350

// main rotor control types (ch8 out)
#define AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH 1
#define AP_MOTORS_HELI_RSC_MODE_EXT_GOVERNOR    2

// default main rotor governor set-point (ch8 out)
#define AP_MOTORS_HELI_EXT_GOVERNOR_SETPOINT    1500

// default main rotor ramp up rate in 100th of seconds
#define AP_MOTORS_HELI_RSC_RATE                 1000    // 1000 = 10 seconds
// motor run-up time default in 100th of seconds
#define AP_MOTORS_HELI_MOTOR_RUNUP_TIME         500     // 500 = 5 seconds

// flybar types
#define AP_MOTORS_HELI_NOFLYBAR                 0
#define AP_MOTORS_HELI_FLYBAR                   1

class AP_HeliControls;

/// @class      AP_MotorsHeli
class AP_MotorsHeli : public AP_Motors {
public:

    /// Constructor
    AP_MotorsHeli( RC_Channel*      rc_roll,
                   RC_Channel*      rc_pitch,
                   RC_Channel*      rc_throttle,
                   RC_Channel*      rc_yaw,
                   RC_Channel*      rc_8,
                   RC_Channel*      swash_servo_1,
                   RC_Channel*      swash_servo_2,
                   RC_Channel*      swash_servo_3,
                   RC_Channel*      yaw_servo,
                   uint16_t         speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
        AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
        _servo_1(swash_servo_1),
        _servo_2(swash_servo_2),
        _servo_3(swash_servo_3),
        _servo_4(yaw_servo),
        _rc_8(rc_8),
        throttle_mid(0),
        _roll_scaler(1),
        _pitch_scaler(1),
        _collective_scalar(1),
        _stab_throttle_scalar(1),
        _swash_initialised(false),
        stab_throttle(false),
        motor_runup_complete(false)
    {
		AP_Param::setup_object_defaults(this, var_info);
    };

    // external objects we depend upon
    RC_Channel      *_servo_1;
    RC_Channel      *_servo_2;
    RC_Channel      *_servo_3;
    RC_Channel      *_servo_4;
    RC_Channel      *_rc_8;

    // parameters
    AP_Int16        servo1_pos;                 // Angular location of swash servo #1
    AP_Int16        servo2_pos;                 // Angular location of swash servo #2
    AP_Int16        servo3_pos;                 // Angular location of swash servo #3
    AP_Int16        roll_max;                   // Maximum roll angle of the swash plate in centi-degrees
    AP_Int16        pitch_max;                  // Maximum pitch angle of the swash plate in centi-degrees
    AP_Int16        collective_min;             // Lowest possible servo position for the swashplate
    AP_Int16        collective_max;             // Highest possible servo position for the swashplate
    AP_Int16        collective_mid;             // Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)
    AP_Int16        ext_gyro_enabled;           // Enabled/Disable an external rudder gyro connected to channel 7.  With no external gyro a more complex yaw controller is used
    AP_Int8         swash_type;                 // Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
    AP_Int16        ext_gyro_gain;              // PWM sent to the external gyro on Ch7
    AP_Int8         servo_manual;               // Pass radio inputs directly to servos during set-up through mission planner
    AP_Int16        phase_angle;                // Phase angle correction for rotor head.  If pitching the swash forward induces a roll, this can be correct the problem
    AP_Int16        collective_yaw_effect;      // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.    
    AP_Int16        ext_gov_setpoint;           // PWM passed to the external motor governor when external governor is enabledv
    AP_Int8         rsc_mode;                   // Sets which main rotor ESC control mode is active
    AP_Int16        rsc_ramp_up_rate;           // The time in 100th seconds the RSC takes to ramp up to speed
    AP_Int8         flybar_mode;                // Flybar present or not.  Affects attitude controller used during ACRO flight mode
    AP_Int8         stab_col_min;               // Minimum collective position while flying in Stabilize Mode
    AP_Int8         stab_col_max;               // Maximum collective position while flying in Stabilize Mode

    // internal variables
    int16_t throttle_mid;                       // throttle mid point in pwm form (i.e. 0 ~ 1000)

    bool stab_throttle;							// true if we are in Stabilize Mode for reduced Swash Range
    bool motor_runup_complete;                  // true if the rotors have had enough time to wind up
    int16_t coll_out;							// returns the actual collective in use to the main code

    // init
    void Init();

    // set update rate to motors - a value in hertz
    // you must have setup_motors before calling this
    void set_update_rate( uint16_t speed_hz );

    // enable - starts allowing signals to be sent to motors
    void enable();

    // motor test
    void output_test();

    // output_min - sends minimum values out to the motors
    void output_min();

    // init_swash - initialise the swash plate
    void init_swash();

    // output - sends commands to the motors
    void output_armed();

    // var_info for holding Parameter information
    static const struct AP_Param::GroupInfo var_info[];

protected:

    // heli_move_swash - moves swash plate to attitude of parameters passed in
    void move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out);

    // reset_swash - free up swash for maximum movements. Used for set-up
    void reset_swash();

    void output_disarmed();

    void rsc_control();

    float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
    float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
    float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];

    // internally used variables
    float _roll_scaler;                         // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
    float _pitch_scaler;                        // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
    float _collective_scalar;                   // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
    float _stab_throttle_scalar;				// throttle scalar to reduce the range of the collective movement in stabilize mode
    bool _swash_initialised;                    // true if swash has been initialised
    int16_t rsc_output;                         // final output to the external motor governor 1000-2000
    int16_t rsc_ramp;                           // current state of ramping
    int16_t motor_runup_timer;                  // timer to determine if motor has run up fully
};

#endif  // AP_MOTORSHELI