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

Copter: allow for HELI_DUAL configurations

master
Andrew Tridgell 8 years ago
parent
1ad5e1db4e
commit
6bb5c16fb8
3 changed files with 31 additions and 19 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. 3
      ArduCopter/Copter.h
  2. 9
      ArduCopter/Parameters.cpp
  3. 38
      ArduCopter/system.cpp

3
ArduCopter/Copter.h
Unescape View File

@ -336,12 +336,13 @@ private: @@ -336,12 +336,13 @@ private:
// Motor Output
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli_Single
#define MOTOR_CLASS AP_MotorsHeli
#else
#define MOTOR_CLASS AP_MotorsMulticopter
#endif
MOTOR_CLASS *motors;
const struct AP_Param::GroupInfo *motors_var_info;
// GPS variables
// Sometimes we need to remove the scaling for distance calcs

9
ArduCopter/Parameters.cpp
Unescape View File

@ -25,6 +25,7 @@ @@ -25,6 +25,7 @@
#define GGROUP(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, &copter.g.v, {group_info : class::var_info} }
#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info} }
#define GOBJECTPTR(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info : class::var_info}, AP_PARAM_FLAG_POINTER }
#define GOBJECTVARPTR(v, name, var_info_ptr) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&copter.v, {group_info_ptr : var_info_ptr}, AP_PARAM_FLAG_POINTER | AP_PARAM_FLAG_INFO_POINTER }
#define GOBJECTN(v, pname, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## pname, (const void *)&copter.v, {group_info : class::var_info} }
const AP_Param::Info Copter::var_info[] = {
@ -779,12 +780,12 @@ const AP_Param::Info Copter::var_info[] = { @@ -779,12 +780,12 @@ const AP_Param::Info Copter::var_info[] = {
#if FRAME_CONFIG == HELI_FRAME
// @Group: H_
// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp,../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECTPTR(motors, "H_", AP_MotorsHeli_Single),
// @Path: ../libraries/AP_Motors/AP_MotorsHeli_Single.cpp,../libraries/AP_Motors/AP_MotorsHeli_Dual.cpp,../libraries/AP_Motors/AP_MotorsHeli.cpp
GOBJECTVARPTR(motors, "H_", &copter.motors_var_info),
#else
// @Group: MOT_
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
GOBJECTPTR(motors, "MOT_", AP_MotorsMulticopter),
GOBJECTVARPTR(motors, "MOT_", &copter.motors_var_info),
#endif
// @Group: RCMAP_
@ -996,7 +997,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = { @@ -996,7 +997,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Group: RC
// @Path: ../libraries/RC_Channel/RC_Channels.cpp
AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
AP_GROUPEND
};

38
ArduCopter/system.cpp
Unescape View File

@ -472,7 +472,8 @@ bool Copter::should_log(uint32_t mask) @@ -472,7 +472,8 @@ bool Copter::should_log(uint32_t mask)
// default frame_class to match firmware if possible
void Copter::set_default_frame_class()
{
if (FRAME_CONFIG == HELI_FRAME) {
if (FRAME_CONFIG == HELI_FRAME &&
g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_DUAL) {
g2.frame_class.set(AP_Motors::MOTOR_FRAME_HELI);
}
}
@ -491,6 +492,7 @@ uint8_t Copter::get_frame_mav_type() @@ -491,6 +492,7 @@ uint8_t Copter::get_frame_mav_type()
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
return MAV_TYPE_OCTOROTOR;
case AP_Motors::MOTOR_FRAME_HELI:
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
return MAV_TYPE_HELICOPTER;
case AP_Motors::MOTOR_FRAME_TRI:
return MAV_TYPE_TRICOPTER;
@ -519,6 +521,8 @@ const char* Copter::get_frame_string() @@ -519,6 +521,8 @@ const char* Copter::get_frame_string()
return "OCTA_QUAD";
case AP_Motors::MOTOR_FRAME_HELI:
return "HELI";
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
return "HELI_DUAL";
case AP_Motors::MOTOR_FRAME_TRI:
return "TRI";
case AP_Motors::MOTOR_FRAME_SINGLE:
@ -538,8 +542,6 @@ const char* Copter::get_frame_string() @@ -538,8 +542,6 @@ const char* Copter::get_frame_string()
*/
void Copter::allocate_motors(void)
{
const struct AP_Param::GroupInfo *var_info;
switch ((AP_Motors::motor_frame_class)g2.frame_class.get()) {
#if FRAME_CONFIG != HELI_FRAME
case AP_Motors::MOTOR_FRAME_QUAD:
@ -549,30 +551,36 @@ void Copter::allocate_motors(void) @@ -549,30 +551,36 @@ void Copter::allocate_motors(void)
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
default:
motors = new AP_MotorsMatrix(MAIN_LOOP_RATE);
var_info = AP_MotorsMatrix::var_info;
motors_var_info = AP_MotorsMatrix::var_info;
break;
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(MAIN_LOOP_RATE);
var_info = AP_MotorsTri::var_info;
motors_var_info = AP_MotorsTri::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
break;
case AP_Motors::MOTOR_FRAME_SINGLE:
motors = new AP_MotorsSingle(MAIN_LOOP_RATE);
var_info = AP_MotorsSingle::var_info;
motors_var_info = AP_MotorsSingle::var_info;
break;
case AP_Motors::MOTOR_FRAME_COAX:
motors = new AP_MotorsCoax(MAIN_LOOP_RATE);
var_info = AP_MotorsCoax::var_info;
motors_var_info = AP_MotorsCoax::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(MAIN_LOOP_RATE);
var_info = AP_MotorsTailsitter::var_info;
motors_var_info = AP_MotorsTailsitter::var_info;
break;
#else // FRAME_CONFIG == HELI_FRAME
case AP_Motors::MOTOR_FRAME_HELI_DUAL:
motors = new AP_MotorsHeli_Dual(MAIN_LOOP_RATE);
motors_var_info = AP_MotorsHeli_Dual::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break;
case AP_Motors::MOTOR_FRAME_HELI:
default:
motors = new AP_MotorsHeli_Single(MAIN_LOOP_RATE);
var_info = AP_MotorsHeli_Single::var_info;
motors_var_info = AP_MotorsHeli_Single::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break;
#endif
@ -580,24 +588,26 @@ void Copter::allocate_motors(void) @@ -580,24 +588,26 @@ void Copter::allocate_motors(void)
if (motors == nullptr) {
AP_HAL::panic("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());
}
AP_Param::load_object_from_eeprom(motors, var_info);
AP_Param::load_object_from_eeprom(motors, motors_var_info);
AP_AHRS_View *ahrs_view = ahrs.create_view(ROTATION_NONE);
if (ahrs_view == nullptr) {
AP_HAL::panic("Unable to allocate AP_AHRS_View");
}
const struct AP_Param::GroupInfo *ac_var_info;
#if FRAME_CONFIG != HELI_FRAME
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, MAIN_LOOP_SECONDS);
var_info = AC_AttitudeControl_Multi::var_info;
ac_var_info = AC_AttitudeControl_Multi::var_info;
#else
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, MAIN_LOOP_SECONDS);
var_info = AC_AttitudeControl_Heli::var_info;
ac_var_info = AC_AttitudeControl_Heli::var_info;
#endif
if (attitude_control == nullptr) {
AP_HAL::panic("Unable to allocate AttitudeControl");
}
AP_Param::load_object_from_eeprom(attitude_control, var_info);
AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,

Write Preview
Loading…
Cancel
Save