You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
369 lines
17 KiB
369 lines
17 KiB
#pragma once |
|
|
|
#include <AP_Common/AP_Common.h> |
|
#include <AP_Math/AP_Math.h> |
|
#include <Filter/Filter.h> // filter library |
|
#include <GCS_MAVLink/GCS_MAVLink.h> |
|
|
|
// offsets for motors in motor_out and _motor_filtered arrays |
|
#define AP_MOTORS_MOT_1 0U |
|
#define AP_MOTORS_MOT_2 1U |
|
#define AP_MOTORS_MOT_3 2U |
|
#define AP_MOTORS_MOT_4 3U |
|
#define AP_MOTORS_MOT_5 4U |
|
#define AP_MOTORS_MOT_6 5U |
|
#define AP_MOTORS_MOT_7 6U |
|
#define AP_MOTORS_MOT_8 7U |
|
#define AP_MOTORS_MOT_9 8U |
|
#define AP_MOTORS_MOT_10 9U |
|
#define AP_MOTORS_MOT_11 10U |
|
#define AP_MOTORS_MOT_12 11U |
|
|
|
#define AP_MOTORS_MAX_NUM_MOTORS 12 |
|
|
|
#ifndef AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#define AP_MOTORS_FRAME_DEFAULT_ENABLED 1 |
|
#endif |
|
|
|
#ifndef AP_MOTORS_FRAME_QUAD_ENABLED |
|
#define AP_MOTORS_FRAME_QUAD_ENABLED AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#endif |
|
#ifndef AP_MOTORS_FRAME_HEXA_ENABLED |
|
#define AP_MOTORS_FRAME_HEXA_ENABLED AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#endif |
|
#ifndef AP_MOTORS_FRAME_OCTA_ENABLED |
|
#define AP_MOTORS_FRAME_OCTA_ENABLED AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#endif |
|
#ifndef AP_MOTORS_FRAME_DECA_ENABLED |
|
#define AP_MOTORS_FRAME_DECA_ENABLED AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#endif |
|
#ifndef AP_MOTORS_FRAME_DODECAHEXA_ENABLED |
|
#define AP_MOTORS_FRAME_DODECAHEXA_ENABLED AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#endif |
|
#ifndef AP_MOTORS_FRAME_Y6_ENABLED |
|
#define AP_MOTORS_FRAME_Y6_ENABLED AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#endif |
|
#ifndef AP_MOTORS_FRAME_OCTAQUAD_ENABLED |
|
#define AP_MOTORS_FRAME_OCTAQUAD_ENABLED AP_MOTORS_FRAME_DEFAULT_ENABLED |
|
#endif |
|
|
|
// motor update rate |
|
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors |
|
|
|
/// @class AP_Motors |
|
class AP_Motors { |
|
public: |
|
|
|
enum motor_frame_class { |
|
MOTOR_FRAME_UNDEFINED = 0, |
|
MOTOR_FRAME_QUAD = 1, |
|
MOTOR_FRAME_HEXA = 2, |
|
MOTOR_FRAME_OCTA = 3, |
|
MOTOR_FRAME_OCTAQUAD = 4, |
|
MOTOR_FRAME_Y6 = 5, |
|
MOTOR_FRAME_HELI = 6, |
|
MOTOR_FRAME_TRI = 7, |
|
MOTOR_FRAME_SINGLE = 8, |
|
MOTOR_FRAME_COAX = 9, |
|
MOTOR_FRAME_TAILSITTER = 10, |
|
MOTOR_FRAME_HELI_DUAL = 11, |
|
MOTOR_FRAME_DODECAHEXA = 12, |
|
MOTOR_FRAME_HELI_QUAD = 13, |
|
MOTOR_FRAME_DECA = 14, |
|
MOTOR_FRAME_SCRIPTING_MATRIX = 15, |
|
MOTOR_FRAME_6DOF_SCRIPTING = 16, |
|
MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX = 17, |
|
}; |
|
|
|
// return string corresponding to frame_class |
|
const char* get_frame_string() const; |
|
|
|
enum motor_frame_type { |
|
MOTOR_FRAME_TYPE_PLUS = 0, |
|
MOTOR_FRAME_TYPE_X = 1, |
|
MOTOR_FRAME_TYPE_V = 2, |
|
MOTOR_FRAME_TYPE_H = 3, |
|
MOTOR_FRAME_TYPE_VTAIL = 4, |
|
MOTOR_FRAME_TYPE_ATAIL = 5, |
|
MOTOR_FRAME_TYPE_PLUSREV = 6, // plus with reversed motor direction |
|
MOTOR_FRAME_TYPE_Y6B = 10, |
|
MOTOR_FRAME_TYPE_Y6F = 11, // for FireFlyY6 |
|
MOTOR_FRAME_TYPE_BF_X = 12, // X frame, betaflight ordering |
|
MOTOR_FRAME_TYPE_DJI_X = 13, // X frame, DJI ordering |
|
MOTOR_FRAME_TYPE_CW_X = 14, // X frame, clockwise ordering |
|
MOTOR_FRAME_TYPE_I = 15, // (sideways H) octo only |
|
MOTOR_FRAME_TYPE_NYT_PLUS = 16, // plus frame, no differential torque for yaw |
|
MOTOR_FRAME_TYPE_NYT_X = 17, // X frame, no differential torque for yaw |
|
MOTOR_FRAME_TYPE_BF_X_REV = 18, // X frame, betaflight ordering, reversed motors |
|
MOTOR_FRAME_TYPE_Y4 = 19, //Y4 Quadrotor frame |
|
}; |
|
|
|
|
|
// returns a formatted string into buffer, e.g. "QUAD/X" |
|
void get_frame_and_type_string(char *buffer, uint8_t buflen) const; |
|
|
|
// Constructor |
|
AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT); |
|
|
|
// singleton support |
|
static AP_Motors *get_singleton(void) { return _singleton; } |
|
|
|
// check initialisation succeeded |
|
bool initialised_ok() const { return _initialised_ok; } |
|
void set_initialised_ok(bool val) { _initialised_ok = val; } |
|
|
|
// arm, disarm or check status status of motors |
|
bool armed() const { return _armed; } |
|
void armed(bool arm); |
|
|
|
// set motor interlock status |
|
void set_interlock(bool set) { _interlock = set;} |
|
|
|
// get motor interlock status. true means motors run, false motors don't run |
|
bool get_interlock() const { return _interlock; } |
|
|
|
// set_roll, set_pitch, set_yaw, set_throttle |
|
void set_roll(float roll_in) { _roll_in = roll_in; }; // range -1 ~ +1 |
|
void set_roll_ff(float roll_in) { _roll_in_ff = roll_in; }; // range -1 ~ +1 |
|
void set_pitch(float pitch_in) { _pitch_in = pitch_in; }; // range -1 ~ +1 |
|
void set_pitch_ff(float pitch_in) { _pitch_in_ff = pitch_in; }; // range -1 ~ +1 |
|
void set_yaw(float yaw_in) { _yaw_in = yaw_in; }; // range -1 ~ +1 |
|
void set_yaw_ff(float yaw_in) { _yaw_in_ff = yaw_in; }; // range -1 ~ +1 |
|
void set_throttle(float throttle_in) { _throttle_in = throttle_in; }; // range 0 ~ 1 |
|
void set_throttle_avg_max(float throttle_avg_max) { _throttle_avg_max = constrain_float(throttle_avg_max, 0.0f, 1.0f); }; // range 0 ~ 1 |
|
void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); } |
|
void set_forward(float forward_in) { _forward_in = forward_in; }; // range -1 ~ +1 |
|
void set_lateral(float lateral_in) { _lateral_in = lateral_in; }; // range -1 ~ +1 |
|
|
|
// for 6DoF vehicles, sets the roll and pitch offset, this rotates the thrust vector in body frame |
|
virtual void set_roll_pitch(float roll_deg, float pitch_deg) {}; |
|
|
|
// accessors for roll, pitch, yaw and throttle inputs to motors |
|
float get_roll() const { return _roll_in; } |
|
float get_roll_ff() const { return _roll_in_ff; } |
|
float get_pitch() const { return _pitch_in; } |
|
float get_pitch_ff() const { return _pitch_in_ff; } |
|
float get_yaw() const { return _yaw_in; } |
|
float get_yaw_ff() const { return _yaw_in_ff; } |
|
float get_throttle_out() const { return _throttle_out; } |
|
float get_throttle() const { return constrain_float(_throttle_filter.get(), 0.0f, 1.0f); } |
|
float get_throttle_bidirectional() const { return constrain_float(2 * (_throttle_filter.get() - 0.5f), -1.0f, 1.0f); } |
|
float get_forward() const { return _forward_in; } |
|
float get_lateral() const { return _lateral_in; } |
|
virtual float get_throttle_hover() const = 0; |
|
|
|
// motor failure handling |
|
void set_thrust_boost(bool enable) { _thrust_boost = enable; } |
|
bool get_thrust_boost() const { return _thrust_boost; } |
|
virtual uint8_t get_lost_motor() const { return 0; } |
|
|
|
// desired spool states |
|
enum class DesiredSpoolState : uint8_t { |
|
SHUT_DOWN = 0, // all motors should move to stop |
|
GROUND_IDLE = 1, // all motors should move to ground idle |
|
THROTTLE_UNLIMITED = 2, // motors should move to being a state where throttle is unconstrained (e.g. by start up procedure) |
|
}; |
|
|
|
void set_desired_spool_state(enum DesiredSpoolState spool); |
|
|
|
enum DesiredSpoolState get_desired_spool_state(void) const { return _spool_desired; } |
|
|
|
// spool states |
|
enum class SpoolState : uint8_t { |
|
SHUT_DOWN = 0, // all motors stop |
|
GROUND_IDLE = 1, // all motors at ground idle |
|
SPOOLING_UP = 2, // increasing maximum throttle while stabilizing |
|
THROTTLE_UNLIMITED = 3, // throttle is no longer constrained by start up procedure |
|
SPOOLING_DOWN = 4, // decreasing maximum throttle while stabilizing |
|
}; |
|
|
|
// get_spool_state - get current spool state |
|
enum SpoolState get_spool_state(void) const { return _spool_state; } |
|
|
|
// set_density_ratio - sets air density as a proportion of sea level density |
|
void set_air_density_ratio(float ratio) { _air_density_ratio = ratio; } |
|
|
|
// structure for holding motor limit flags |
|
struct AP_Motors_limit { |
|
uint8_t roll : 1; // we have reached roll or pitch limit |
|
uint8_t pitch : 1; // we have reached roll or pitch limit |
|
uint8_t yaw : 1; // we have reached yaw limit |
|
uint8_t throttle_lower : 1; // we have reached throttle's lower limit |
|
uint8_t throttle_upper : 1; // we have reached throttle's upper limit |
|
} limit; |
|
|
|
// set limit flag for pitch, roll and yaw |
|
void set_limit_flag_pitch_roll_yaw(bool flag); |
|
|
|
// |
|
// virtual functions that should be implemented by child classes |
|
// |
|
|
|
// set update rate to motors - a value in hertz |
|
virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; } |
|
|
|
// init |
|
virtual void init(motor_frame_class frame_class, motor_frame_type frame_type) = 0; |
|
|
|
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus) |
|
virtual void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) = 0; |
|
|
|
// output - sends commands to the motors |
|
virtual void output() = 0; |
|
|
|
// output_min - sends minimum values out to the motors |
|
virtual void output_min() = 0; |
|
|
|
// output_test_seq - spin a motor at the pwm value specified |
|
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame |
|
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000 |
|
void output_test_seq(uint8_t motor_seq, int16_t pwm); |
|
|
|
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used) |
|
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict |
|
virtual uint32_t get_motor_mask() = 0; |
|
|
|
// pilot input in the -1 ~ +1 range for roll, pitch and yaw. 0~1 range for throttle |
|
void set_radio_passthrough(float roll_input, float pitch_input, float throttle_input, float yaw_input); |
|
|
|
// set loop rate. Used to support loop rate as a parameter |
|
void set_loop_rate(uint16_t loop_rate) { _loop_rate = loop_rate; } |
|
|
|
// return the roll factor of any motor, this is used for tilt rotors and tail sitters |
|
// using copter motors for forward flight |
|
virtual float get_roll_factor(uint8_t i) { return 0.0f; } |
|
|
|
// return the pitch factor of any motor |
|
virtual float get_pitch_factor(uint8_t i) { return 0.0f; } |
|
|
|
// return whether a motor is enabled or not |
|
virtual bool is_motor_enabled(uint8_t i) { return false; } |
|
|
|
// This function required for tradheli. Tradheli initializes targets when going from unarmed to armed state. |
|
// This function is overriden in motors_heli class. Always true for multicopters. |
|
virtual bool init_targets_on_arming() const { return true; } |
|
|
|
// returns true if the configured PWM type is digital and should have fixed endpoints |
|
bool is_digital_pwm_type() const; |
|
|
|
// returns true is pwm type is brushed |
|
bool is_brushed_pwm_type() const { return _pwm_type == PWM_TYPE_BRUSHED; } |
|
|
|
// returns true is pwm type is normal |
|
bool is_normal_pwm_type() const { return (_pwm_type == PWM_TYPE_NORMAL) || (_pwm_type == PWM_TYPE_PWM_RANGE); } |
|
|
|
MAV_TYPE get_frame_mav_type() const { return _mav_type; } |
|
|
|
// direct motor write |
|
virtual void rc_write(uint8_t chan, uint16_t pwm); |
|
|
|
#if AP_SCRIPTING_ENABLED |
|
void set_frame_string(const char * str); |
|
#endif |
|
|
|
// write log, to be called at 10hz |
|
virtual void Log_Write() {}; |
|
|
|
protected: |
|
// output functions that should be overloaded by child classes |
|
virtual void output_armed_stabilizing() = 0; |
|
virtual void rc_write_angle(uint8_t chan, int16_t angle_cd); |
|
virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz); |
|
|
|
|
|
/* |
|
map an internal motor mask to real motor mask, accounting for |
|
SERVOn_FUNCTION mappings, and allowing for multiple outputs per |
|
motor number |
|
*/ |
|
uint32_t motor_mask_to_srv_channel_mask(uint32_t mask) const; |
|
|
|
// add a motor to the motor map |
|
void add_motor_num(int8_t motor_num); |
|
|
|
// update the throttle input filter |
|
virtual void update_throttle_filter() = 0; |
|
|
|
// save parameters as part of disarming |
|
virtual void save_params_on_disarm() {} |
|
|
|
// internal variables |
|
uint16_t _loop_rate; // rate in Hz at which output() function is called (normally 400hz) |
|
uint16_t _speed_hz; // speed in hz to send updates to motors |
|
float _roll_in; // desired roll control from attitude controllers, -1 ~ +1 |
|
float _roll_in_ff; // desired roll feed forward control from attitude controllers, -1 ~ +1 |
|
float _pitch_in; // desired pitch control from attitude controller, -1 ~ +1 |
|
float _pitch_in_ff; // desired pitch feed forward control from attitude controller, -1 ~ +1 |
|
float _yaw_in; // desired yaw control from attitude controller, -1 ~ +1 |
|
float _yaw_in_ff; // desired yaw feed forward control from attitude controller, -1 ~ +1 |
|
float _throttle_in; // last throttle input from set_throttle caller |
|
float _throttle_out; // throttle after mixing is complete |
|
float _forward_in; // last forward input from set_forward caller |
|
float _lateral_in; // last lateral input from set_lateral caller |
|
float _throttle_avg_max; // last throttle input from set_throttle_avg_max |
|
LowPassFilterFloat _throttle_filter; // throttle input filter |
|
DesiredSpoolState _spool_desired; // desired spool state |
|
SpoolState _spool_state; // current spool mode |
|
|
|
// air pressure compensation variables |
|
float _air_density_ratio; // air density / sea level density - decreases in altitude |
|
|
|
// mask of what channels need fast output |
|
uint32_t _motor_fast_mask; |
|
|
|
// mask of what channels need to use SERVOn_MIN/MAX for output mapping |
|
uint32_t _motor_pwm_range_mask; |
|
|
|
// pass through variables |
|
float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed |
|
float _pitch_radio_passthrough; // pitch input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed |
|
float _throttle_radio_passthrough; // throttle/collective input from pilot in 0 ~ 1 range. used for setup and providing servo feedback while landed |
|
float _yaw_radio_passthrough; // yaw input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed |
|
|
|
AP_Int8 _pwm_type; // PWM output type |
|
|
|
// motor failure handling |
|
bool _thrust_boost; // true if thrust boost is enabled to handle motor failure |
|
bool _thrust_balanced; // true when output thrust is well balanced |
|
float _thrust_boost_ratio; // choice between highest and second highest motor output for output mixing (0 ~ 1). Zero is normal operation |
|
|
|
MAV_TYPE _mav_type; // MAV_TYPE_GENERIC = 0; |
|
|
|
enum pwm_type { PWM_TYPE_NORMAL = 0, |
|
PWM_TYPE_ONESHOT = 1, |
|
PWM_TYPE_ONESHOT125 = 2, |
|
PWM_TYPE_BRUSHED = 3, |
|
PWM_TYPE_DSHOT150 = 4, |
|
PWM_TYPE_DSHOT300 = 5, |
|
PWM_TYPE_DSHOT600 = 6, |
|
PWM_TYPE_DSHOT1200 = 7, |
|
PWM_TYPE_PWM_RANGE = 8 }; |
|
|
|
// return string corresponding to frame_class |
|
virtual const char* _get_frame_string() const = 0; |
|
|
|
// return string corresponding to frame_type |
|
virtual const char* get_type_string() const { return ""; } |
|
|
|
// output_test_seq - spin a motor at the pwm value specified |
|
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame |
|
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000 |
|
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) = 0; |
|
|
|
#if AP_SCRIPTING_ENABLED |
|
// Custom frame string set from scripting |
|
char* custom_frame_string; |
|
#endif |
|
|
|
private: |
|
|
|
bool _armed; // 0 if disarmed, 1 if armed |
|
bool _interlock; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run) |
|
bool _initialised_ok; // 1 if initialisation was successful |
|
|
|
static AP_Motors *_singleton; |
|
}; |
|
|
|
namespace AP { |
|
AP_Motors *motors(); |
|
};
|
|
|