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267 lines
10 KiB
267 lines
10 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* AP_MotorsSingle.cpp - ArduCopter motors library |
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* Code by RandyMackay. DIYDrones.com |
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* |
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*/ |
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#include <AP_HAL.h> |
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#include <AP_Math.h> |
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#include "AP_MotorsSingle.h" |
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extern const AP_HAL::HAL& hal; |
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const AP_Param::GroupInfo AP_MotorsSingle::var_info[] PROGMEM = { |
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// 0 was used by TB_RATIO |
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// @Param: TCRV_ENABLE |
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// @DisplayName: Thrust Curve Enable |
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// @Description: Controls whether a curve is used to linearize the thrust produced by the motors |
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// @User: Advanced |
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// @Values: 0:Disabled,1:Enable |
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AP_GROUPINFO("TCRV_ENABLE", 1, AP_MotorsSingle, _throttle_curve_enabled, THROTTLE_CURVE_ENABLED), |
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// @Param: TCRV_MIDPCT |
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// @DisplayName: Thrust Curve mid-point percentage |
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// @Description: Set the pwm position that produces half the maximum thrust of the motors |
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// @User: Advanced |
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// @Range: 20 80 |
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// @Increment: 1 |
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AP_GROUPINFO("TCRV_MIDPCT", 2, AP_MotorsSingle, _throttle_curve_mid, THROTTLE_CURVE_MID_THRUST), |
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// @Param: TCRV_MAXPCT |
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// @DisplayName: Thrust Curve max thrust percentage |
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// @Description: Set to the lowest pwm position that produces the maximum thrust of the motors. Most motors produce maximum thrust below the maximum pwm value that they accept. |
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// @User: Advanced |
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// @Range: 20 80 |
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// @Increment: 1 |
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AP_GROUPINFO("TCRV_MAXPCT", 3, AP_MotorsSingle, _throttle_curve_max, THROTTLE_CURVE_MAX_THRUST), |
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// @Param: SPIN_ARMED |
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// @DisplayName: Motors always spin when armed |
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// @Description: Controls whether motors always spin when armed (must be below THR_MIN) |
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// @Values: 0:Do Not Spin,70:VerySlow,100:Slow,130:Medium,150:Fast |
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// @User: Standard |
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AP_GROUPINFO("SPIN_ARMED", 5, AP_MotorsSingle, _spin_when_armed, AP_MOTORS_SPIN_WHEN_ARMED), |
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// @Param: REV_ROLL |
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// @DisplayName: Reverse roll feedback |
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// @Description: Ensure the feedback is negative |
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// @Values: -1:Opposite direction,1:Same direction |
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AP_GROUPINFO("REV_ROLL", 6, AP_MotorsSingle, _rev_roll, AP_MOTORS_SING_POSITIVE), |
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// @Param: REV_PITCH |
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// @DisplayName: Reverse roll feedback |
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// @Description: Ensure the feedback is negative |
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// @Values: -1:Opposite direction,1:Same direction |
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AP_GROUPINFO("REV_PITCH", 7, AP_MotorsSingle, _rev_pitch, AP_MOTORS_SING_POSITIVE), |
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// @Param: REV_ROLL |
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// @DisplayName: Reverse roll feedback |
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// @Description: Ensure the feedback is negative |
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// @Values: -1:Opposite direction,1:Same direction |
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AP_GROUPINFO("REV_YAW", 8, AP_MotorsSingle, _rev_yaw, AP_MOTORS_SING_POSITIVE), |
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// @Param: SV_SPEED |
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// @DisplayName: Servo speed |
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// @Description: Servo update speed |
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// @Values: -1:Opposite direction,1:Same direction |
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AP_GROUPINFO("SV_SPEED", 9, AP_MotorsSingle, _servo_speed, AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS), |
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AP_GROUPEND |
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}; |
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// init |
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void AP_MotorsSingle::Init() |
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{ |
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// call parent Init function to set-up throttle curve |
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AP_Motors::Init(); |
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// set update rate for the 3 motors (but not the servo on channel 7) |
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set_update_rate(_speed_hz); |
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// set the motor_enabled flag so that the ESCs can be calibrated like other frame types |
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motor_enabled[AP_MOTORS_MOT_1] = true; |
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motor_enabled[AP_MOTORS_MOT_2] = true; |
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motor_enabled[AP_MOTORS_MOT_3] = true; |
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motor_enabled[AP_MOTORS_MOT_4] = true; |
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} |
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// set update rate to motors - a value in hertz |
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void AP_MotorsSingle::set_update_rate( uint16_t speed_hz ) |
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{ |
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// record requested speed |
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_speed_hz = speed_hz; |
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// set update rate for the 3 motors (but not the servo on channel 7) |
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uint32_t mask = |
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1U << _motor_to_channel_map[AP_MOTORS_MOT_1] | |
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1U << _motor_to_channel_map[AP_MOTORS_MOT_2] | |
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1U << _motor_to_channel_map[AP_MOTORS_MOT_3] | |
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1U << _motor_to_channel_map[AP_MOTORS_MOT_4] ; |
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hal.rcout->set_freq(mask, _servo_speed); |
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uint32_t mask2 = 1U << _motor_to_channel_map[AP_MOTORS_MOT_7]; |
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hal.rcout->set_freq(mask2, _speed_hz); |
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} |
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// enable - starts allowing signals to be sent to motors |
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void AP_MotorsSingle::enable() |
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{ |
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// enable output channels |
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_1]); |
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_2]); |
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_3]); |
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_4]); |
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hal.rcout->enable_ch(_motor_to_channel_map[AP_MOTORS_MOT_7]); |
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} |
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// output_min - sends minimum values out to the motor and trim values to the servos |
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void AP_MotorsSingle::output_min() |
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{ |
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// fill the motor_out[] array for HIL use |
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motor_out[AP_MOTORS_MOT_1] = _servo1->radio_trim; |
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motor_out[AP_MOTORS_MOT_2] = _servo2->radio_trim; |
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motor_out[AP_MOTORS_MOT_3] = _servo3->radio_trim; |
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motor_out[AP_MOTORS_MOT_4] = _servo4->radio_trim; |
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motor_out[AP_MOTORS_MOT_7] = _rc_throttle->radio_min; |
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// send minimum value to each motor |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_trim); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_trim); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_trim); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_trim); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min); |
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} |
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// output_armed - sends commands to the motors |
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void AP_MotorsSingle::output_armed() |
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{ |
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int16_t out_min = _rc_throttle->radio_min + _min_throttle; |
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// Throttle is 0 to 1000 only |
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_rc_throttle->servo_out = constrain_int16(_rc_throttle->servo_out, 0, _max_throttle); |
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// capture desired throttle from receiver |
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_rc_throttle->calc_pwm(); |
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// if we are not sending a throttle output, we cut the motors |
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if(_rc_throttle->servo_out == 0) { |
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// range check spin_when_armed |
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if (_spin_when_armed < 0) { |
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_spin_when_armed = 0; |
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} |
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if (_spin_when_armed > _min_throttle) { |
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_spin_when_armed = _min_throttle; |
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} |
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motor_out[AP_MOTORS_MOT_7] = _rc_throttle->radio_min + _spin_when_armed; |
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}else{ |
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//motor |
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motor_out[AP_MOTORS_MOT_7] = _rc_throttle->radio_out; |
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//front |
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_servo1->servo_out = _rev_roll*_rc_roll->servo_out + _rev_yaw*_rc_yaw->servo_out; |
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//right |
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_servo2->servo_out = _rev_pitch*_rc_pitch->servo_out + _rev_yaw*_rc_yaw->servo_out; |
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//rear |
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_servo3->servo_out = -_rev_roll*_rc_roll->servo_out + _rev_yaw*_rc_yaw->servo_out; |
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//left |
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_servo4->servo_out = -_rev_pitch*_rc_pitch->servo_out + _rev_yaw*_rc_yaw->servo_out; |
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_servo1->calc_pwm(); |
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_servo2->calc_pwm(); |
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_servo3->calc_pwm(); |
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_servo4->calc_pwm(); |
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motor_out[AP_MOTORS_MOT_1] = _servo1->radio_out; |
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motor_out[AP_MOTORS_MOT_2] = _servo2->radio_out; |
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motor_out[AP_MOTORS_MOT_3] = _servo3->radio_out; |
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motor_out[AP_MOTORS_MOT_4] = _servo4->radio_out; |
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// adjust for throttle curve |
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if( _throttle_curve_enabled ) { |
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motor_out[AP_MOTORS_MOT_7] = _throttle_curve.get_y(motor_out[AP_MOTORS_MOT_7]); |
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} |
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// ensure motors don't drop below a minimum value and stop |
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motor_out[AP_MOTORS_MOT_7] = max(motor_out[AP_MOTORS_MOT_7], out_min); |
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} |
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// send output to each motor |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], motor_out[AP_MOTORS_MOT_3]); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], motor_out[AP_MOTORS_MOT_7]); |
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} |
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// output_disarmed - sends commands to the motors |
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void AP_MotorsSingle::output_disarmed() |
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{ |
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// Send minimum values to all motors |
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output_min(); |
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} |
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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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void AP_MotorsSingle::output_test() |
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{ |
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// Send minimum values to all motors |
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output_min(); |
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// spin main motor |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min + _min_throttle); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_7], _rc_throttle->radio_min); |
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hal.scheduler->delay(2000); |
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// flap servo 1 |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_min); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_max); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo1->radio_trim); |
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hal.scheduler->delay(2000); |
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// flap servo 2 |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_min); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_max); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo2->radio_trim); |
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hal.scheduler->delay(2000); |
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// flap servo 3 |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_min); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_max); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo3->radio_trim); |
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hal.scheduler->delay(2000); |
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// flap servo 4 |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_min); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_max); |
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hal.scheduler->delay(1000); |
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hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo4->radio_trim); |
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// Send minimum values to all motors |
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output_min(); |
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}
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