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.
137 lines
3.4 KiB
137 lines
3.4 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
#if FRAME_CONFIG == TRI_FRAME |
|
|
|
static void init_motors_out() |
|
{ |
|
#if INSTANT_PWM == 0 |
|
APM_RC.SetFastOutputChannels(_BV(MOT_1) | _BV(MOT_2) | _BV(MOT_4), |
|
g.rc_speed); |
|
#endif |
|
} |
|
|
|
static void motors_output_enable() |
|
{ |
|
APM_RC.enable_out(MOT_1); |
|
APM_RC.enable_out(MOT_2); |
|
APM_RC.enable_out(MOT_4); |
|
APM_RC.enable_out(CH_TRI_YAW); |
|
} |
|
|
|
|
|
static void output_motors_armed() |
|
{ |
|
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, MAXIMUM_THROTTLE); |
|
|
|
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(); |
|
|
|
int roll_out = (float)g.rc_1.pwm_out * .866; |
|
int pitch_out = g.rc_2.pwm_out / 2; |
|
|
|
//left front |
|
motor_out[MOT_2] = g.rc_3.radio_out + roll_out + pitch_out; |
|
//right front |
|
motor_out[MOT_1] = g.rc_3.radio_out - roll_out + pitch_out; |
|
// rear |
|
motor_out[MOT_4] = g.rc_3.radio_out - g.rc_2.pwm_out; |
|
|
|
//motor_out[MOT_4] += (float)(abs(g.rc_4.control_in)) * .013; |
|
|
|
// Tridge's stability patch |
|
if(motor_out[MOT_1] > out_max){ |
|
motor_out[MOT_2] -= (motor_out[MOT_1] - out_max) >> 1; |
|
motor_out[MOT_4] -= (motor_out[MOT_1] - out_max) >> 1; |
|
motor_out[MOT_1] = out_max; |
|
} |
|
|
|
if(motor_out[MOT_2] > out_max){ |
|
motor_out[MOT_1] -= (motor_out[MOT_2] - out_max) >> 1; |
|
motor_out[MOT_4] -= (motor_out[MOT_2] - out_max) >> 1; |
|
motor_out[MOT_2] = out_max; |
|
} |
|
|
|
if(motor_out[MOT_4] > out_max){ |
|
motor_out[MOT_1] -= (motor_out[MOT_4] - out_max) >> 1; |
|
motor_out[MOT_2] -= (motor_out[MOT_4] - out_max) >> 1; |
|
motor_out[MOT_4] = out_max; |
|
} |
|
|
|
// limit output so motors don't stop |
|
motor_out[MOT_1] = max(motor_out[MOT_1], out_min); |
|
motor_out[MOT_2] = max(motor_out[MOT_2], out_min); |
|
motor_out[MOT_4] = max(motor_out[MOT_4], 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[MOT_1] = g.rc_3.radio_min; |
|
motor_out[MOT_2] = g.rc_3.radio_min; |
|
motor_out[MOT_4] = g.rc_3.radio_min; |
|
} |
|
#endif |
|
|
|
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]); |
|
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]); |
|
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]); |
|
|
|
#if INSTANT_PWM == 1 |
|
// InstantPWM |
|
APM_RC.Force_Out0_Out1(); |
|
APM_RC.Force_Out2_Out3(); |
|
#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 < 8; i++){ |
|
motor_out[i] = g.rc_3.radio_min; |
|
} |
|
|
|
// Send commands to motors |
|
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); |
|
APM_RC.OutputCh(MOT_2, g.rc_3.radio_min); |
|
APM_RC.OutputCh(MOT_4, g.rc_3.radio_min); |
|
} |
|
|
|
static void output_motor_test() |
|
{ |
|
motor_out[MOT_1] = g.rc_3.radio_min; |
|
motor_out[MOT_2] = g.rc_3.radio_min; |
|
motor_out[MOT_4] = g.rc_3.radio_min; |
|
|
|
APM_RC.OutputCh(MOT_2, g.rc_2.radio_min); |
|
delay(4000); |
|
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min + 100); |
|
delay(300); |
|
|
|
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); |
|
delay(2000); |
|
APM_RC.OutputCh(MOT_4, g.rc_1.radio_min + 100); |
|
delay(300); |
|
|
|
APM_RC.OutputCh(MOT_4, g.rc_1.radio_min); |
|
delay(2000); |
|
APM_RC.OutputCh(MOT_2, g.rc_4.radio_min + 100); |
|
delay(300); |
|
|
|
APM_RC.OutputCh(MOT_1, motor_out[MOT_1]); |
|
APM_RC.OutputCh(MOT_2, motor_out[MOT_2]); |
|
APM_RC.OutputCh(MOT_4, motor_out[MOT_4]); |
|
} |
|
|
|
#endif
|
|
|