zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Copter: formatting and param description changes

master
Randy Mackay 11 years ago
parent
0e2ddb0378
commit
2cc48ffcd6
2 changed files with 136 additions and 107 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 103
      libraries/AP_Motors/AP_MotorsHeli.cpp
  2. 140
      libraries/AP_Motors/AP_MotorsHeli.h

103
libraries/AP_Motors/AP_MotorsHeli.cpp
Unescape View File

@ -30,108 +30,109 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = { @@ -30,108 +30,109 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Param: SV1_POS
// @DisplayName: Servo 1 Position
// @Description: This is the angular location of swash servo #1.
// @Description: Angular location of swash servo #1
// @Range: -180 180
// @Units: Degrees
// @User: Standard
// @Increment: 1
AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli, servo1_pos, -60),
AP_GROUPINFO("SV1_POS", 1, AP_MotorsHeli, servo1_pos, AP_MOTORS_HELI_SERVO1_POS),
// @Param: SV2_POS
// @DisplayName: Servo 2 Position
// @Description: This is the angular location of swash servo #2.
// @Description: Angular location of swash servo #2
// @Range: -180 180
// @Units: Degrees
// @User: Standard
// @Increment: 1
AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli, servo2_pos, 60),
AP_GROUPINFO("SV2_POS", 2, AP_MotorsHeli, servo2_pos, AP_MOTORS_HELI_SERVO2_POS),
// @Param: SV3_POS
// @DisplayName: Servo 3 Position
// @Description: This is the angular location of swash servo #3.
// @Description: Angular location of swash servo #3
// @Range: -180 180
// @Units: Degrees
// @User: Standard
// @Increment: 1
AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli, servo3_pos, 180),
AP_GROUPINFO("SV3_POS", 3, AP_MotorsHeli, servo3_pos, AP_MOTORS_HELI_SERVO3_POS),
// @Param: ROL_MAX
// @DisplayName: Maximum Roll Angle
// @Description: This is the maximum allowable roll of the swash plate.
// @DisplayName: Swash Roll Angle Max
// @Description: Maximum roll angle of the swash plate
// @Range: 0 18000
// @Units: Degrees
// @Increment: 1
// @Units: Centi-Degrees
// @Increment: 100
// @User: Advanced
AP_GROUPINFO("ROL_MAX", 4, AP_MotorsHeli, roll_max, 4500),
AP_GROUPINFO("ROL_MAX", 4, AP_MotorsHeli, roll_max, AP_MOTORS_HELI_SWASH_ROLL_MAX),
// @Param: PIT_MAX
// @DisplayName: Maximum Pitch Angle
// @Description: This is the maximum allowable pitch of the swash plate.
// @DisplayName: Swash Pitch Angle Max
// @Description: Maximum pitch angle of the swash plate
// @Range: 0 18000
// @Units: Degrees
// @Increment: 1
// @Units: Centi-Degrees
// @Increment: 100
// @User: Advanced
AP_GROUPINFO("PIT_MAX", 5, AP_MotorsHeli, pitch_max, 4500),
AP_GROUPINFO("PIT_MAX", 5, AP_MotorsHeli, pitch_max, AP_MOTORS_HELI_SWASH_PITCH_MAX),
// @Param: COL_MIN
// @DisplayName: Collective Pitch Minimum
// @Description: This controls the lowest possible servo position for the swashplate.
// @Description: Lowest possible servo position for the swashplate
// @Range: 1000 2000
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("COL_MIN", 6, AP_MotorsHeli, collective_min, 1250),
AP_GROUPINFO("COL_MIN", 6, AP_MotorsHeli, collective_min, AP_MOTORS_HELI_COLLECTIVE_MIN),
// @Param: COL_MAX
// @DisplayName: Collective Pitch Maximum
// @Description: This controls the highest possible servo position for the swashplate.
// @Description: Highest possible servo position for the swashplate
// @Range: 1000 2000
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("COL_MAX", 7, AP_MotorsHeli, collective_max, 1750),
AP_GROUPINFO("COL_MAX", 7, AP_MotorsHeli, collective_max, AP_MOTORS_HELI_COLLECTIVE_MAX),
// @Param: COL_MID
// @DisplayName: Collective Pitch Mid-Point
// @Description: This is the swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades).
// @Description: Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)
// @Range: 1000 2000
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("COL_MID", 8, AP_MotorsHeli, collective_mid, 1500),
AP_GROUPINFO("COL_MID", 8, AP_MotorsHeli, collective_mid, AP_MOTORS_HELI_COLLECTIVE_MID),
// @Param: GYR_ENABLE
// @DisplayName: External Gyro Enabled
// @Description: Setting this to Enabled(1) will enable an external rudder gyro control which means outputting a gain on channel 7 and using a simpler heading control algorithm. Setting this to Disabled(0) will disable the external gyro gain on channel 7 and revert to a more complex yaw control algorithm.
// @Description: Enabled/Disable an external rudder gyro connected to channel 7. With no external gyro a more complex yaw controller is used
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("GYR_ENABLE", 9, AP_MotorsHeli, ext_gyro_enabled, 0),
// @Param: SWASH_TYPE
// @DisplayName: Swash Plate Type
// @Description: Setting this to 0 will configure for a 3-servo CCPM. Setting this to 1 will configure for mechanically mixed "H1".
// @DisplayName: Swash Type
// @Description: Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
// @Values: 0:3-Servo CCPM, 1:H1 Mechanical Mixing
// @User: Standard
AP_GROUPINFO("SWASH_TYPE", 10, AP_MotorsHeli, swash_type, AP_MOTORS_HELI_SWASH_CCPM),
// @Param: GYR_GAIN
// @DisplayName: External Gyro Gain
// @Description: This is the PWM which is passed to the external gyro when external gyro is enabled.
// @Description: PWM sent to the external gyro on Ch7
// @Range: 1000 2000
// @Units: PWM
// @Increment: 1
// @Increment: 10
// @User: Standard
AP_GROUPINFO("GYR_GAIN", 11, AP_MotorsHeli, ext_gyro_gain, 1350),
AP_GROUPINFO("GYR_GAIN", 11, AP_MotorsHeli, ext_gyro_gain, AP_MOTORS_HELI_EXT_GYRO_GAIN),
// @Param: SV_MAN
// @DisplayName: Manual Servo Mode
// @Description: Setting this to Enabled(1) will pass radio inputs directly to servos. Setting this to Disabled(0) will enable Arducopter control of servos. This is only meant to be used by the Mission Planner using swash plate set-up.
// @Description: Pass radio inputs directly to servos for set-up. Do not set this manually!
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("SV_MAN", 12, AP_MotorsHeli, servo_manual, 0),
// @Param: PHANG
// @DisplayName: Swashplate Phase Angle Compensation
// @Description: This corrects for phase angle errors of the helicopter main rotor head. For example if pitching the swash forward also induces a roll, that effect can be offset with this parameter.
// @Description: Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem
// @Range: -90 90
// @Units: Degrees
// @User: Advanced
@ -140,58 +141,58 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = { @@ -140,58 +141,58 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @Param: COLYAW
// @DisplayName: Collective-Yaw Mixing
// @Description: This is a feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
// @Description: Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
// @Range: -10 10
AP_GROUPINFO("COLYAW", 14, AP_MotorsHeli, collective_yaw_effect, 0),
// @Param: GOV_SETPOINT
// @DisplayName: External Motor Governor Setpoint
// @Description: This is the PWM which is passed to the external motor governor when external governor is enabled.
// @Description: PWM passed to the external motor governor when external governor is enabled
// @Range: 1000 2000
// @Units: PWM
// @Increment: 10
// @User: Standard
AP_GROUPINFO("GOV_SETPOINT", 15, AP_MotorsHeli, ext_gov_setpoint, 1500),
AP_GROUPINFO("GOV_SETPOINT", 15, AP_MotorsHeli, ext_gov_setpoint, AP_MOTORS_HELI_EXT_GOVERNOR_SETPOINT),
// @Param: RSC_MODE
// @DisplayName: Rotor Speed Control Mode
// @Description: This sets which ESC control mode is active.
// @Range: 1 3
// @Description: Which main rotor ESC control mode is active
// @Values: 1:Ch8 passthrough, 2:External Governor
// @User: Standard
AP_GROUPINFO("RSC_MODE", 16, AP_MotorsHeli, rsc_mode, 1),
AP_GROUPINFO("RSC_MODE", 16, AP_MotorsHeli, rsc_mode, AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH),
// @Param: RSC_RATE
// @DisplayName: RSC Ramp Rate
// @Description: This sets the time the RSC takes to ramp up to full speed (Soft Start).
// @Description: The time in 100th seconds the RSC takes to ramp up to speed
// @Range: 0 6000
// @Units: Seconds
// @Units: 100ths of Seconds
// @User: Standard
AP_GROUPINFO("RSC_RATE", 17, AP_MotorsHeli, rsc_ramp_up_rate, 1000),
AP_GROUPINFO("RSC_RATE", 17, AP_MotorsHeli, rsc_ramp_up_rate, AP_MOTORS_HELI_RSC_RATE),
// @Param: FLYBAR_MODE
// @DisplayName: Flybar Mode Selector
// @Description: This sets which acro mode is active. (0) is Flybarless (1) is Mechanical Flybar
// @Range: 0 1
// @Description: Flybar present or not. Affects attitude controller used during ACRO flight mode
// @Range: 0:NoFlybar 1:Flybar
// @User: Standard
AP_GROUPINFO("FLYBAR_MODE", 18, AP_MotorsHeli, flybar_mode, 0),
AP_GROUPINFO("FLYBAR_MODE", 18, AP_MotorsHeli, flybar_mode, AP_MOTORS_HELI_NOFLYBAR),
// @Param: STAB_COL_MIN
// @DisplayName: Stabilize Throttle Minimum
// @Description: This is the minimum collective setpoint in Stabilize Mode
// @Description: Minimum collective position while flying in Stabilize Mode
// @Range: 0 50
// @Units: 1%
// @Units: Percent
// @Increment: 1
// @User: Standard
AP_GROUPINFO("STAB_COL_MIN", 19, AP_MotorsHeli, stab_col_min, 0),
AP_GROUPINFO("STAB_COL_MIN", 19, AP_MotorsHeli, stab_col_min, AP_MOTORS_HELI_STAB_COL_MIN),
// @Param: STAB_COL_MAX
// @DisplayName: Stabilize Throttle Maximum
// @Description: This is the maximum collective setpoint in Stabilize Mode
// @Description: Maximum collective position while flying in Stabilize Mode
// @Range: 50 100
// @Units: 1%
// @Units: Percent
// @Increment: 1
// @User: Standard
AP_GROUPINFO("STAB_COL_MAX", 20, AP_MotorsHeli, stab_col_max, 100),
AP_GROUPINFO("STAB_COL_MAX", 20, AP_MotorsHeli, stab_col_max, AP_MOTORS_HELI_STAB_COL_MAX),
AP_GROUPEND
};
@ -545,7 +546,7 @@ static long map(long x, long in_min, long in_max, long out_min, long out_max) @@ -545,7 +546,7 @@ static long map(long x, long in_min, long in_max, long out_min, long out_max)
void AP_MotorsHeli::rsc_control() {
if (armed() && (rsc_ramp >= rsc_ramp_up_rate)){ // rsc_ramp will never increase if rsc_mode = 0
if (motor_runup_timer < MOTOR_RUNUP_TIME){ // therefore motor_runup_complete can never be true
if (motor_runup_timer < AP_MOTORS_HELI_MOTOR_RUNUP_TIME){ // therefore motor_runup_complete can never be true
motor_runup_timer++;
} else {
motor_runup_complete = true;
@ -558,7 +559,7 @@ void AP_MotorsHeli::rsc_control() { @@ -558,7 +559,7 @@ void AP_MotorsHeli::rsc_control() {
switch ( rsc_mode ) {
case AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH:
case AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH:
if( armed() && (_rc_8->radio_in > (_rc_8->radio_min + 10))) {
if (rsc_ramp < rsc_ramp_up_rate) {
rsc_ramp++;
@ -576,7 +577,7 @@ void AP_MotorsHeli::rsc_control() { @@ -576,7 +577,7 @@ void AP_MotorsHeli::rsc_control() {
hal.rcout->write(AP_MOTORS_HELI_EXT_RSC, rsc_output);
break;
case AP_MOTORSHELI_RSC_MODE_EXT_GOV:
case AP_MOTORS_HELI_RSC_MODE_EXT_GOVERNOR:
if( armed() && _rc_8->control_in > 100) {
if (rsc_ramp < rsc_ramp_up_rate) {

140
libraries/AP_Motors/AP_MotorsHeli.h
Unescape View File

@ -12,30 +12,56 @@ @@ -12,30 +12,56 @@
#include <RC_Channel.h> // RC Channel Library
#include "AP_Motors.h"
#define AP_MOTORS_HELI_SPEED_DEFAULT 125 // default servo update rate for helicopters
#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
// output channels
#define AP_MOTORS_HELI_EXT_GYRO CH_7 // tail servo uses channel 7
#define AP_MOTORS_HELI_EXT_RSC CH_8 // main rotor controlled with channel 8
#define AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS 3
// maximum number of swashplate servos
#define AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS 3
// tail servo uses channel 7
#define AP_MOTORS_HELI_EXT_GYRO CH_7
// servo output rates
#define AP_MOTORS_HELI_SPEED_DEFAULT 125 // default servo update rate for helicopters
#define AP_MOTORS_HELI_SPEED_DIGITAL_SERVOS 125 // update rate for digital servos
#define AP_MOTORS_HELI_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
// frame definitions
#define AP_MOTORS_HELI_SWASH_CCPM 0
#define AP_MOTORS_HELI_SWASH_H1 1
// servo position defaults
#define AP_MOTORS_HELI_SERVO1_POS -60
#define AP_MOTORS_HELI_SERVO2_POS 60
#define AP_MOTORS_HELI_SERVO3_POS 180
// ext RSC definitions
#define AP_MOTORS_HELI_EXT_RSC CH_8
#define AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH 1
#define AP_MOTORSHELI_RSC_MODE_EXT_GOV 2
// swash type definitions
#define AP_MOTORS_HELI_SWASH_CCPM 0
#define AP_MOTORS_HELI_SWASH_H1 1
// head definitions
#define FLYBARLESS_HEAD 0
#define FLYBAR_HEAD 1
// default swash min and max angles and positions
#define AP_MOTORS_HELI_SWASH_ROLL_MAX 4500
#define AP_MOTORS_HELI_SWASH_PITCH_MAX 4500
#define AP_MOTORS_HELI_COLLECTIVE_MIN 1250
#define AP_MOTORS_HELI_COLLECTIVE_MAX 1750
#define AP_MOTORS_HELI_COLLECTIVE_MID 1500
// motor run-up timer
#define MOTOR_RUNUP_TIME 500 // 500 = 5 seconds
// swash min and max position (expressed as percentage) while in stabilize mode
#define AP_MOTORS_HELI_STAB_COL_MIN 0
#define AP_MOTORS_HELI_STAB_COL_MAX 100
// default external gyro gain (ch7 out)
#define AP_MOTORS_HELI_EXT_GYRO_GAIN 1350
// main rotor control types (ch8 out)
#define AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH 1
#define AP_MOTORS_HELI_RSC_MODE_EXT_GOVERNOR 2
// default main rotor governor set-point (ch8 out)
#define AP_MOTORS_HELI_EXT_GOVERNOR_SETPOINT 1500
// default main rotor ramp up rate in 100th of seconds
#define AP_MOTORS_HELI_RSC_RATE 1000 // 1000 = 10 seconds
// motor run-up time default in 100th of seconds
#define AP_MOTORS_HELI_MOTOR_RUNUP_TIME 500 // 500 = 5 seconds
// flybar types
#define AP_MOTORS_HELI_NOFLYBAR 0
#define AP_MOTORS_HELI_FLYBAR 1
class AP_HeliControls;
@ -59,48 +85,54 @@ public: @@ -59,48 +85,54 @@ public:
_servo_2(swash_servo_2),
_servo_3(swash_servo_3),
_servo_4(yaw_servo),
_rc_8(rc_8)
_rc_8(rc_8),
throttle_mid(0),
_roll_scaler(1),
_pitch_scaler(1),
_collective_scalar(1),
_stab_throttle_scalar(1),
_swash_initialised(false),
stab_throttle(false),
motor_runup_complete(false)
{
AP_Param::setup_object_defaults(this, var_info);
throttle_mid = 0;
_roll_scaler = 1;
_pitch_scaler = 1;
_collective_scalar = 1;
_stab_throttle_scalar = 1;
_swash_initialised = false;
stab_throttle = false;
motor_runup_complete = false;
};
// external objects we depend upon
RC_Channel *_servo_1;
RC_Channel *_servo_2;
RC_Channel *_servo_3;
RC_Channel *_servo_4;
RC_Channel *_rc_8;
AP_Int8 swash_type;
AP_Int16 servo1_pos;
AP_Int16 servo2_pos;
AP_Int16 servo3_pos;
AP_Int16 collective_min;
AP_Int16 collective_max;
AP_Int16 collective_mid;
AP_Int16 ext_gyro_enabled;
AP_Int16 ext_gyro_gain;
AP_Int16 roll_max;
AP_Int16 pitch_max;
AP_Int16 phase_angle;
AP_Int16 collective_yaw_effect;
AP_Int8 servo_manual; // used to trigger swash reset from mission planner
AP_Int16 ext_gov_setpoint; // maximum output to the motor governor
AP_Int8 rsc_mode; // sets the mode for rotor speed controller
AP_Int16 rsc_ramp_up_rate; // sets the time in 100th seconds the RSC takes to ramp up to speed
AP_Int8 flybar_mode; // selects FBL Acro Mode, or Flybarred Acro Mode
RC_Channel *_servo_4;
RC_Channel *_rc_8;
// parameters
AP_Int16 servo1_pos; // Angular location of swash servo #1
AP_Int16 servo2_pos; // Angular location of swash servo #2
AP_Int16 servo3_pos; // Angular location of swash servo #3
AP_Int16 roll_max; // Maximum roll angle of the swash plate in centi-degrees
AP_Int16 pitch_max; // Maximum pitch angle of the swash plate in centi-degrees
AP_Int16 collective_min; // Lowest possible servo position for the swashplate
AP_Int16 collective_max; // Highest possible servo position for the swashplate
AP_Int16 collective_mid; // Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades)
AP_Int16 ext_gyro_enabled; // Enabled/Disable an external rudder gyro connected to channel 7. With no external gyro a more complex yaw controller is used
AP_Int8 swash_type; // Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing
AP_Int16 ext_gyro_gain; // PWM sent to the external gyro on Ch7
AP_Int8 servo_manual; // Pass radio inputs directly to servos during set-up through mission planner
AP_Int16 phase_angle; // Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem
AP_Int16 collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
AP_Int16 ext_gov_setpoint; // PWM passed to the external motor governor when external governor is enabledv
AP_Int8 rsc_mode; // Sets which main rotor ESC control mode is active
AP_Int16 rsc_ramp_up_rate; // The time in 100th seconds the RSC takes to ramp up to speed
AP_Int8 flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int8 stab_col_min; // Minimum collective position while flying in Stabilize Mode
AP_Int8 stab_col_max; // Maximum collective position while flying in Stabilize Mode
// internal variables
int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000)
AP_Int8 stab_col_min; // collective pitch minimum in Stabilize Mode
AP_Int8 stab_col_max; // collective pitch maximum in Stabilize Mode
bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range
bool stab_throttle; // true if we are in Stabilize Mode for reduced Swash Range
bool motor_runup_complete; // true if the rotors have had enough time to wind up
int16_t coll_out; // returns the actual collective in use to the main code
int16_t coll_out; // returns the actual collective in use to the main code
// init
void Init();
@ -143,19 +175,15 @@ protected: @@ -143,19 +175,15 @@ protected:
float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _collectiveFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
// internally used variables
float _roll_scaler; // scaler to convert roll input from radio (i.e. -4500 ~ 4500) to max roll range
float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch range
float _collective_scalar; // throttle scalar to convert pwm form (i.e. 0 ~ 1000) passed in to actual servo range (i.e 1250~1750 would be 500)
float _stab_throttle_scalar; // throttle scalar to reduce the range of the collective movement in stabilize mode
float _stab_throttle_scalar; // throttle scalar to reduce the range of the collective movement in stabilize mode
bool _swash_initialised; // true if swash has been initialised
int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t rsc_ramp; // current state of ramping
int16_t motor_runup_timer; // timer to determine if motor has run up fully
};
#endif // AP_MOTORSHELI

Write Preview
Loading…
Cancel
Save