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170 lines
6.4 KiB
170 lines
6.4 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#if FRAME_CONFIG == HELI_FRAME |
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int heli_manual_override = false; |
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float rollPitch_impact_on_collective = 0; |
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void heli_init_swash() |
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{ |
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int i; |
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int tilt_max[CH_3+1]; |
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int total_tilt_max = 0; |
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// swash servo initialisation |
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g.heli_servo_1.set_range(0,1000); |
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g.heli_servo_2.set_range(0,1000); |
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g.heli_servo_3.set_range(0,1000); |
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g.heli_servo_4.set_angle(4500); |
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//g.heli_servo_4.radio_min = 1000; // required? |
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//g.heli_servo_4.radio_max = 2000; |
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// pitch factors |
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heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos)); |
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heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos)); |
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heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos)); |
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// roll factors |
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heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90)); |
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heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90)); |
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heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90)); |
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// collective min / max |
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total_tilt_max = 0; |
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for( i=CH_1; i<=CH_3; i++ ) { |
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tilt_max[i] = max(abs(heli_rollFactor[i]*g.heli_roll_max), abs(heli_pitchFactor[i]*g.heli_pitch_max))/100; |
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total_tilt_max = max(total_tilt_max,tilt_max[i]); |
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} |
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//if( reset_collective == false ) { |
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// g.heli_coll_min = total_tilt_max; |
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// g.heli_coll_max = 1000 - total_tilt_max; |
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//} |
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// servo min/max values - or should I use set_range? |
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g.heli_servo_1.radio_min = g.heli_coll_min - tilt_max[CH_1]; |
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g.heli_servo_1.radio_max = g.heli_coll_max + tilt_max[CH_1]; |
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g.heli_servo_2.radio_min = g.heli_coll_min - tilt_max[CH_2]; |
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g.heli_servo_2.radio_max = g.heli_coll_max + tilt_max[CH_2]; |
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g.heli_servo_3.radio_min = g.heli_coll_min - tilt_max[CH_3]; |
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g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3]; |
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} |
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void heli_move_servos_to_mid() |
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{ |
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heli_move_swash(0,0,1500,0); |
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} |
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// |
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// heli_move_swash - moves swash plate to attitude of parameters passed in |
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// - expected ranges: |
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// roll : -4500 ~ 4500 // should be -500 to 500? |
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// pitch: -4500 ~ 4500 |
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// collective: 1000 ~ 2000 |
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// yaw: -4500 ~ 4500?? |
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// |
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void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out) |
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{ |
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// ensure values are acceptable: |
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roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max); |
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pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max); |
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coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max); |
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// swashplate servos |
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g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500); |
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if( g.heli_servo_1.get_reverse() ) |
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g.heli_servo_1.servo_out = 3000 - g.heli_servo_1.servo_out; |
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g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500); |
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if( g.heli_servo_2.get_reverse() ) |
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g.heli_servo_2.servo_out = 3000 - g.heli_servo_2.servo_out; |
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g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500); |
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if( g.heli_servo_3.get_reverse() ) |
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g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out; |
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if( g.heli_servo_4.get_reverse() ) |
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g.heli_servo_4.servo_out = -yaw_out; // should probably just use rc_4 directly like we do for a tricopter |
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else |
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g.heli_servo_4.servo_out = yaw_out; |
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// use servo_out to calculate pwm_out and radio_out |
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g.heli_servo_1.calc_pwm(); |
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g.heli_servo_2.calc_pwm(); |
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g.heli_servo_3.calc_pwm(); |
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g.heli_servo_4.calc_pwm(); |
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// actually move the servos |
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APM_RC.OutputCh(CH_1, g.heli_servo_1.servo_out); |
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APM_RC.OutputCh(CH_2, g.heli_servo_2.servo_out); |
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APM_RC.OutputCh(CH_3, g.heli_servo_3.servo_out); |
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//APM_RC.OutputCh(CH_4, g.heli_servo_4.servo_out); |
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APM_RC.OutputCh(CH_4, g.heli_servo_4.radio_out); |
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// output gyro value |
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if( g.heli_ext_gyro_enabled ) { |
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APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain); |
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} |
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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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// debug |
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//Serial.printf_P(PSTR("4: r%d \tcp:%d \tcol:%d \ty:%d \tout:%d \tpwm:%d \trOut:%d \ttrim:%d\n"), roll_out, pitch_out, coll_out, yaw_out, (int)g.heli_servo_4.servo_out, (int)g.heli_servo_4.pwm_out, (int)g.heli_servo_4.radio_out, (int)g.heli_servo_4.radio_trim); |
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//Serial.printf_P(PSTR("4: y:%d \tout:%d \tpwm:%d \trOut:%d \ttrim:%d\n"), yaw_out, (int)g.heli_servo_4.servo_out, (int)g.heli_servo_4.pwm_out, (int)g.heli_servo_4.radio_out, (int)g.heli_servo_4.radio_trim); |
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//Serial.printf_P(PSTR("4: y:%d \tro:%d\n"), yaw_out, (int)g.heli_servo_4.radio_out); |
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} |
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// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better |
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void output_motors_armed() |
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{ |
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//static int counter = 0; |
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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( heli_manual_override ) { |
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// straight pass through from radio inputs to swash plate |
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heli_move_swash( g.rc_1.control_in, g.rc_2.control_in, g.rc_3.radio_in, g.rc_4.control_in ); |
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/*Serial.printf_P( PSTR("1: %d/%d \t2:%d/%d \t3:%d/%d \t4:%d/%d\n"), |
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(int)g.rc_1.control_in, (int)g.rc_1.servo_out, |
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(int)g.rc_2.control_in, (int)g.rc_2.servo_out, |
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(int)g.rc_3.radio_in, (int)g.rc_3.servo_out, |
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(int)g.rc_4.control_in, (int)g.rc_4.servo_out );*/ |
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}else{ |
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// collective pitch compensation for yaw/roll. This probably belongs somewhere else |
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//Matrix3f temp = dcm.get_dcm_matrix(); |
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//rollPitch_impact_on_collective = 1.0 * (g.rc_3.radio_in-g.heli_coll_mid) * (1.0 - temp.c.z); |
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//rollPitch_impact_on_collective = constrain(rollPitch_impact_on_collective,0,100); |
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/*counter++; |
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if( counter > 20 ) { |
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counter = 0; |
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Serial.printf_P( PSTR("dcm:%f4.1\t rc3:%d\t cm:%d\t imp:%d\n"), |
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temp.c.z, |
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(int)g.rc_3.radio_in, |
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(int)g.heli_coll_mid, |
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(int)rollPitch_impact_on_collective ); |
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}*/ |
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// source inputs from attitude controller (except for collective pitch) |
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//heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_in + rollPitch_impact_on_collective, g.rc_4.servo_out ); // to allow control by PIDs except for collective |
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heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_out, g.rc_4.servo_out ); // to allow control by PIDs except for collective |
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} |
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} |
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// for helis - armed or disarmed we allow servos to move |
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void output_motors_disarmed() |
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{ |
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//heli_move_servos_to_mid(); |
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output_motors_armed(); |
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} |
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void output_motor_test() |
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{ |
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} |
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#endif // HELI_FRAME |