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.
195 lines
6.0 KiB
195 lines
6.0 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#if FRAME_CONFIG == OCTA_QUAD_FRAME |
|
|
|
static void init_motors_out() |
|
{ |
|
#if INSTANT_PWM == 0 |
|
APM_RC.SetFastOutputChannels( MSK_CH_1 | MSK_CH_2 | MSK_CH_3 | MSK_CH_4 |
|
| MSK_CH_7 | MSK_CH_8 | MSK_CH_10 | MSK_CH_11 ); |
|
#endif |
|
} |
|
|
|
static void output_motors_armed() |
|
{ |
|
int roll_out, pitch_out; |
|
int out_min = g.rc_3.radio_min; |
|
int out_max = g.rc_3.radio_max; |
|
|
|
// Throttle is 0 to 1000 only |
|
g.rc_3.servo_out = constrain(g.rc_3.servo_out, 0, 1000); |
|
|
|
if(g.rc_3.servo_out > 0) |
|
out_min = g.rc_3.radio_min + MINIMUM_THROTTLE; |
|
|
|
g.rc_1.calc_pwm(); |
|
g.rc_2.calc_pwm(); |
|
g.rc_3.calc_pwm(); |
|
g.rc_4.calc_pwm(); |
|
|
|
if(g.frame_orientation == X_FRAME){ |
|
roll_out = (float)g.rc_1.pwm_out * .707; |
|
pitch_out = (float)g.rc_2.pwm_out * .707; |
|
|
|
// Front Left |
|
motor_out[CH_7] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out + pitch_out); // CCW TOP |
|
motor_out[CH_8] = g.rc_3.radio_out + roll_out + pitch_out; // CW |
|
|
|
// Front Right |
|
motor_out[CH_10] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out + pitch_out); // CCW TOP |
|
motor_out[CH_11] = g.rc_3.radio_out - roll_out + pitch_out; // CW |
|
|
|
// Back Left |
|
motor_out[CH_3] = ((g.rc_3.radio_out * g.top_bottom_ratio) + roll_out - pitch_out); // CCW TOP |
|
motor_out[CH_4] = g.rc_3.radio_out + roll_out - pitch_out; // CW |
|
|
|
// Back Right |
|
motor_out[CH_1] = ((g.rc_3.radio_out * g.top_bottom_ratio) - roll_out - pitch_out); // CCW TOP |
|
motor_out[CH_2] = g.rc_3.radio_out - roll_out - pitch_out; // CW |
|
|
|
|
|
|
|
}if(g.frame_orientation == PLUS_FRAME){ |
|
roll_out = g.rc_1.pwm_out; |
|
pitch_out = g.rc_2.pwm_out; |
|
|
|
// Left |
|
motor_out[CH_7] = (g.rc_3.radio_out * g.top_bottom_ratio) - roll_out; // CCW TOP |
|
motor_out[CH_8] = g.rc_3.radio_out - roll_out; // CW |
|
|
|
// Right |
|
motor_out[CH_1] = (g.rc_3.radio_out * g.top_bottom_ratio) + roll_out; // CCW TOP |
|
motor_out[CH_2] = g.rc_3.radio_out + roll_out; // CW |
|
|
|
// Front |
|
motor_out[CH_10] = (g.rc_3.radio_out * g.top_bottom_ratio) + pitch_out; // CCW TOP |
|
motor_out[CH_11] = g.rc_3.radio_out + pitch_out; // CW |
|
|
|
// Back |
|
motor_out[CH_3] = (g.rc_3.radio_out * g.top_bottom_ratio) - pitch_out; // CCW TOP |
|
motor_out[CH_4] = g.rc_3.radio_out - pitch_out; // CW |
|
|
|
} |
|
|
|
// Yaw |
|
motor_out[CH_1] += g.rc_4.pwm_out; // CCW |
|
motor_out[CH_3] += g.rc_4.pwm_out; // CCW |
|
motor_out[CH_7] += g.rc_4.pwm_out; // CCW |
|
motor_out[CH_10] += g.rc_4.pwm_out; // CCW |
|
|
|
motor_out[CH_2] -= g.rc_4.pwm_out; // CW |
|
motor_out[CH_4] -= g.rc_4.pwm_out; // CW |
|
motor_out[CH_8] -= g.rc_4.pwm_out; // CW |
|
motor_out[CH_11] -= g.rc_4.pwm_out; // CW |
|
|
|
// TODO add stability patch |
|
motor_out[CH_1] = min(motor_out[CH_1], out_max); |
|
motor_out[CH_2] = min(motor_out[CH_2], out_max); |
|
motor_out[CH_3] = min(motor_out[CH_3], out_max); |
|
motor_out[CH_4] = min(motor_out[CH_4], out_max); |
|
motor_out[CH_7] = min(motor_out[CH_7], out_max); |
|
motor_out[CH_8] = min(motor_out[CH_8], out_max); |
|
motor_out[CH_10] = min(motor_out[CH_10], out_max); |
|
motor_out[CH_11] = min(motor_out[CH_11], out_max); |
|
|
|
// limit output so motors don't stop |
|
motor_out[CH_1] = max(motor_out[CH_1], out_min); |
|
motor_out[CH_2] = max(motor_out[CH_2], out_min); |
|
motor_out[CH_3] = max(motor_out[CH_3], out_min); |
|
motor_out[CH_4] = max(motor_out[CH_4], out_min); |
|
motor_out[CH_7] = max(motor_out[CH_7], out_min); |
|
motor_out[CH_8] = max(motor_out[CH_8], out_min); |
|
motor_out[CH_10] = max(motor_out[CH_10], out_min); |
|
motor_out[CH_11] = max(motor_out[CH_11], out_min); |
|
|
|
#if CUT_MOTORS == ENABLED |
|
// if we are not sending a throttle output, we cut the motors |
|
if(g.rc_3.servo_out == 0){ |
|
motor_out[CH_1] = g.rc_3.radio_min; |
|
motor_out[CH_2] = g.rc_3.radio_min; |
|
motor_out[CH_3] = g.rc_3.radio_min; |
|
motor_out[CH_4] = g.rc_3.radio_min; |
|
motor_out[CH_7] = g.rc_3.radio_min; |
|
motor_out[CH_8] = g.rc_3.radio_min; |
|
motor_out[CH_10] = g.rc_3.radio_min; |
|
motor_out[CH_11] = g.rc_3.radio_min; |
|
} |
|
#endif |
|
|
|
APM_RC.OutputCh(CH_1, motor_out[CH_1]); |
|
APM_RC.OutputCh(CH_2, motor_out[CH_2]); |
|
APM_RC.OutputCh(CH_3, motor_out[CH_3]); |
|
APM_RC.OutputCh(CH_4, motor_out[CH_4]); |
|
APM_RC.OutputCh(CH_7, motor_out[CH_7]); |
|
APM_RC.OutputCh(CH_8, motor_out[CH_8]); |
|
APM_RC.OutputCh(CH_10, motor_out[CH_10]); |
|
APM_RC.OutputCh(CH_11, motor_out[CH_11]); |
|
|
|
#if INSTANT_PWM == 1 |
|
// InstantPWM |
|
APM_RC.Force_Out0_Out1(); |
|
APM_RC.Force_Out2_Out3(); |
|
APM_RC.Force_Out6_Out7(); |
|
#endif |
|
} |
|
|
|
static void output_motors_disarmed() |
|
{ |
|
if(g.rc_3.control_in > 0){ |
|
// we have pushed up the throttle |
|
// remove safety |
|
motor_auto_armed = true; |
|
} |
|
|
|
// fill the motor_out[] array for HIL use |
|
for (unsigned char i = 0; i < 11; i++) { |
|
motor_out[i] = g.rc_3.radio_min; |
|
} |
|
|
|
// Send commands to motors |
|
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_2, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_3, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_10, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_11, g.rc_3.radio_min); |
|
} |
|
|
|
static void output_motor_test() |
|
{ |
|
APM_RC.OutputCh(CH_8, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_10, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
|
|
APM_RC.OutputCh(CH_10, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_11, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
|
|
APM_RC.OutputCh(CH_11, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_1, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
|
|
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_2, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
|
|
APM_RC.OutputCh(CH_2, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_3, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
|
|
APM_RC.OutputCh(CH_3, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_4, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
|
|
APM_RC.OutputCh(CH_4, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_7, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
|
|
APM_RC.OutputCh(CH_7, g.rc_3.radio_min); |
|
APM_RC.OutputCh(CH_8, g.rc_3.radio_min + 100); |
|
delay(1000); |
|
} |
|
|
|
#endif
|
|
|