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71 lines
2.5 KiB
71 lines
2.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AP_MotorsSingle.h |
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/// @brief Motor and Servo control class for Singlecopters |
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#ifndef __AP_MOTORS_SING_H__ |
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#define __AP_MOTORS_SING_H__ |
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#include <AP_Common.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <RC_Channel.h> // RC Channel Library |
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#include "AP_Motors.h" |
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// feedback direction |
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#define AP_MOTORS_SING_POSITIVE 1 |
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#define AP_MOTORS_SING_NEGATIVE -1 |
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#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos |
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#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos |
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#define AP_MOTORS_SINGLE_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max) |
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/// @class AP_MotorsSingle |
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class AP_MotorsSingle : public AP_Motors { |
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public: |
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/// Constructor |
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AP_MotorsSingle( RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, RC_Channel& servo1, RC_Channel& servo2, RC_Channel& servo3, RC_Channel& servo4, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : |
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), |
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_servo1(servo1), |
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_servo2(servo2), |
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_servo3(servo3), |
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_servo4(servo4) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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}; |
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// init |
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virtual void Init(); |
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// set update rate to motors - a value in hertz |
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void set_update_rate( uint16_t speed_hz ); |
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// enable - starts allowing signals to be sent to motors |
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virtual void enable(); |
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// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction |
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virtual void output_test(); |
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// output_min - sends minimum values out to the motors |
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virtual void output_min(); |
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// var_info for holding Parameter information |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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// output - sends commands to the motors |
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virtual void output_armed(); |
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virtual void output_disarmed(); |
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AP_Int8 _rev_roll; // REV Roll feedback |
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AP_Int8 _rev_pitch; // REV pitch feedback |
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AP_Int8 _rev_yaw; // REV yaw feedback |
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AP_Int16 _servo_speed; // servo speed |
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RC_Channel& _servo1; |
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RC_Channel& _servo2; |
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RC_Channel& _servo3; |
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RC_Channel& _servo4; |
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}; |
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#endif // AP_MOTORSSINGLE
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