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207 lines
6.5 KiB
207 lines
6.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#if FRAME_CONFIG == OCTA_QUAD_FRAME |
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static void init_motors_out() |
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{ |
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#if INSTANT_PWM == 0 |
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APM_RC.SetFastOutputChannels( _BV(MOT_1) | _BV(MOT_2) | _BV(MOT_3) | _BV(MOT_4) |
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| _BV(MOT_5) | _BV(MOT_6) | _BV(MOT_7) | _BV(MOT_8) ); |
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#endif |
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} |
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static void output_motors_armed() |
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{ |
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int roll_out, pitch_out; |
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int out_min = g.rc_3.radio_min; |
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int out_max = g.rc_3.radio_max; |
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// Throttle is 0 to 1000 only |
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g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, MAXIMUM_THROTTLE); |
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if(g.rc_3.servo_out > 0) |
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out_min = g.rc_3.radio_min + MINIMUM_THROTTLE; |
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g.rc_1.calc_pwm(); |
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g.rc_2.calc_pwm(); |
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g.rc_3.calc_pwm(); |
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g.rc_4.calc_pwm(); |
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if(g.frame_orientation == X_FRAME){ |
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roll_out = (float)g.rc_1.pwm_out * .707; |
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pitch_out = (float)g.rc_2.pwm_out * .707; |
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// Front Left |
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motor_out[MOT_5] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP |
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motor_out[MOT_6] = g.rc_3.radio_out + roll_out + pitch_out; // CW |
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// Front Right |
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motor_out[MOT_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP |
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motor_out[MOT_8] = g.rc_3.radio_out - roll_out + pitch_out; // CW |
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// Back Left |
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motor_out[MOT_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP |
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motor_out[MOT_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW |
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// Back Right |
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motor_out[MOT_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP |
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motor_out[MOT_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW |
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}if(g.frame_orientation == PLUS_FRAME){ |
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roll_out = g.rc_1.pwm_out; |
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pitch_out = g.rc_2.pwm_out; |
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// Left |
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motor_out[MOT_5] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP |
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motor_out[MOT_6] = g.rc_3.radio_out - roll_out; // CW |
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// Right |
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motor_out[MOT_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP |
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motor_out[MOT_2] = g.rc_3.radio_out + roll_out; // CW |
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// Front |
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motor_out[MOT_7] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP |
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motor_out[MOT_8] = g.rc_3.radio_out + pitch_out; // CW |
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// Back |
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motor_out[MOT_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP |
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motor_out[MOT_4] = g.rc_3.radio_out - pitch_out; // CW |
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} |
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// Yaw |
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motor_out[MOT_1] += g.rc_4.pwm_out; // CCW |
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motor_out[MOT_3] += g.rc_4.pwm_out; // CCW |
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motor_out[MOT_5] += g.rc_4.pwm_out; // CCW |
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motor_out[MOT_7] += g.rc_4.pwm_out; // CCW |
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motor_out[MOT_2] -= g.rc_4.pwm_out; // CW |
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motor_out[MOT_4] -= g.rc_4.pwm_out; // CW |
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motor_out[MOT_6] -= g.rc_4.pwm_out; // CW |
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motor_out[MOT_8] -= g.rc_4.pwm_out; // CW |
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// TODO add stability patch |
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motor_out[MOT_1] = min(motor_out[MOT_1], out_max); |
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motor_out[MOT_2] = min(motor_out[MOT_2], out_max); |
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motor_out[MOT_3] = min(motor_out[MOT_3], out_max); |
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motor_out[MOT_4] = min(motor_out[MOT_4], out_max); |
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motor_out[MOT_5] = min(motor_out[MOT_5], out_max); |
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motor_out[MOT_6] = min(motor_out[MOT_6], out_max); |
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motor_out[MOT_7] = min(motor_out[MOT_7], out_max); |
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motor_out[MOT_8] = min(motor_out[MOT_8], out_max); |
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// limit output so motors don't stop |
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motor_out[MOT_1] = max(motor_out[MOT_1], out_min); |
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motor_out[MOT_2] = max(motor_out[MOT_2], out_min); |
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motor_out[MOT_3] = max(motor_out[MOT_3], out_min); |
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motor_out[MOT_4] = max(motor_out[MOT_4], out_min); |
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motor_out[MOT_5] = max(motor_out[MOT_5], out_min); |
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motor_out[MOT_6] = max(motor_out[MOT_6], out_min); |
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motor_out[MOT_7] = max(motor_out[MOT_7], out_min); |
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motor_out[MOT_8] = max(motor_out[MOT_8], out_min); |
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#if CUT_MOTORS == ENABLED |
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// if we are not sending a throttle output, we cut the motors |
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if(g.rc_3.servo_out == 0){ |
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motor_out[MOT_1] = g.rc_3.radio_min; |
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motor_out[MOT_2] = g.rc_3.radio_min; |
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motor_out[MOT_3] = g.rc_3.radio_min; |
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motor_out[MOT_4] = g.rc_3.radio_min; |
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motor_out[MOT_5] = g.rc_3.radio_min; |
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motor_out[MOT_6] = g.rc_3.radio_min; |
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motor_out[MOT_7] = g.rc_3.radio_min; |
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motor_out[MOT_8] = g.rc_3.radio_min; |
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} |
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#endif |
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// this filter slows the acceleration of motors vs the deceleration |
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// Idea by Denny Rowland to help with his Yaw issue |
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for(int8_t m = 0; m <= 8; m++ ) { |
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int i = ch_of_mot(m); |
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if(motor_filtered[i] < motor_out[i]){ |
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motor_filtered[i] = (motor_out[i] + motor_filtered[i]) / 2; |
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}else{ |
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// don't filter |
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motor_filtered[i] = motor_out[i]; |
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} |
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} |
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APM_RC.OutputCh(MOT_1, motor_filtered[MOT_1]); |
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APM_RC.OutputCh(MOT_2, motor_filtered[MOT_2]); |
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APM_RC.OutputCh(MOT_3, motor_filtered[MOT_3]); |
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APM_RC.OutputCh(MOT_4, motor_filtered[MOT_4]); |
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APM_RC.OutputCh(MOT_5, motor_filtered[MOT_5]); |
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APM_RC.OutputCh(MOT_6, motor_filtered[MOT_6]); |
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APM_RC.OutputCh(MOT_7, motor_filtered[MOT_7]); |
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APM_RC.OutputCh(MOT_8, motor_filtered[MOT_8]); |
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#if INSTANT_PWM == 1 |
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// InstantPWM |
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APM_RC.Force_Out0_Out1(); |
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APM_RC.Force_Out2_Out3(); |
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APM_RC.Force_Out6_Out7(); |
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#endif |
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} |
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static void output_motors_disarmed() |
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{ |
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if(g.rc_3.control_in > 0){ |
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// we have pushed up the throttle |
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// remove safety |
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motor_auto_armed = true; |
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} |
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// fill the motor_out[] array for HIL use |
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for (unsigned char i = 0; i < 11; i++) { |
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motor_out[i] = g.rc_3.radio_min; |
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} |
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// Send commands to motors |
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_7, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_8, g.rc_3.radio_min); |
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} |
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static void output_motor_test() |
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{ |
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_7, g.rc_3.radio_min + 100); |
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delay(1000); |
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APM_RC.OutputCh(MOT_7, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_8, g.rc_3.radio_min + 100); |
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delay(1000); |
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APM_RC.OutputCh(MOT_8, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100); |
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delay(1000); |
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APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min + 100); |
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delay(1000); |
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APM_RC.OutputCh(MOT_2, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min + 100); |
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delay(1000); |
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APM_RC.OutputCh(MOT_3, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min + 100); |
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delay(1000); |
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APM_RC.OutputCh(MOT_4, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min + 100); |
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delay(1000); |
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APM_RC.OutputCh(MOT_5, g.rc_3.radio_min); |
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APM_RC.OutputCh(MOT_6, g.rc_3.radio_min + 100); |
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delay(1000); |
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} |
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#endif
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