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57 lines
1.9 KiB
57 lines
1.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/// @file AP_MotorsTri.h |
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/// @brief Motor control class for Tricopters |
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#ifndef AP_MOTORSTRI |
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#define AP_MOTORSTRI |
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#include <FastSerial.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 <APM_RC.h> // ArduPilot Mega RC Library |
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#include <AP_Motors.h> |
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// tail servo uses channel 7 |
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#define AP_MOTORS_CH_TRI_YAW CH_7 |
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/// @class AP_MotorsTri |
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class AP_MotorsTri : public AP_Motors { |
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public: |
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/// Constructor |
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AP_MotorsTri( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, RC_Channel* rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : |
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AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), |
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_rc_tail(rc_tail) { |
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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 or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm |
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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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// get basic information about the platform |
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virtual uint8_t get_num_motors() { |
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return 4; |
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}; // 3 motors + 1 tail servo |
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// motor test |
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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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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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RC_Channel* _rc_tail; // REV parameter used from this channel to determine direction of tail servo movement |
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}; |
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#endif // AP_MOTORSTRI
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