Fredrik Hedberg
10 years ago
committed by
Randy Mackay
4 changed files with 254 additions and 208 deletions
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// -*- 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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#include <stdlib.h> |
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#include <AP_HAL.h> |
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#include "AP_MotorsHeli_RSC.h" |
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extern const AP_HAL::HAL& hal; |
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// recalc_scalers - recalculates various scalers used. Should be called at about 1hz to allow users to see effect of changing parameters
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void AP_MotorsHeli_RSC::recalc_scalers() |
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{ |
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// recalculate rotor ramp up increment
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if (_ramp_time <= 0) { |
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_ramp_time = 1; |
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} |
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_ramp_increment = 1000.0f / (_ramp_time * _loop_rate); |
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// recalculate rotor runup increment
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if (_runup_time <= 0 ) { |
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_runup_time = 1; |
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} |
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if (_runup_time < _ramp_time) { |
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_runup_time = _ramp_time; |
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} |
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_runup_increment = 1000.0f / (_runup_time * _loop_rate); |
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} |
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void AP_MotorsHeli_RSC::output_armed() |
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{ |
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// ramp rotor esc output towards target
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if (_speed_out < _desired_speed) { |
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// allow rotor out to jump to rotor's current speed
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if (_speed_out < _estimated_speed) { |
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_speed_out = _estimated_speed; |
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} |
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// ramp up slowly to target
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_speed_out += _ramp_increment; |
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if (_speed_out > _desired_speed) { |
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_speed_out = _desired_speed; |
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} |
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} else { |
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// ramping down happens instantly
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_speed_out = _desired_speed; |
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} |
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// ramp rotor speed estimate towards speed out
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if (_estimated_speed < _speed_out) { |
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_estimated_speed += _runup_increment; |
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if (_estimated_speed > _speed_out) { |
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_estimated_speed = _speed_out; |
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} |
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} else { |
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_estimated_speed -= _runup_increment; |
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if (_estimated_speed < _speed_out) { |
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_estimated_speed = _speed_out; |
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} |
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} |
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// set runup complete flag
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if (!_runup_complete && _desired_speed > 0 && _estimated_speed >= _desired_speed) { |
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_runup_complete = true; |
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} |
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if (_runup_complete && _estimated_speed <= _critical_speed) { |
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_runup_complete = false; |
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} |
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// output to rsc servo
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write_rsc(_speed_out); |
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} |
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void AP_MotorsHeli_RSC::output_disarmed() |
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{ |
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write_rsc(0); |
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} |
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// write_rsc - outputs pwm onto output rsc channel
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// servo_out parameter is of the range 0 ~ 1000
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void AP_MotorsHeli_RSC::write_rsc(int16_t servo_out) |
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{ |
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_servo_output.servo_out = servo_out; |
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_servo_output.calc_pwm(); |
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hal.rcout->write(_servo_output_channel, _servo_output.radio_out); |
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} |
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_MOTORS_HELI_RSC_H__ |
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#define __AP_MOTORS_HELI_RSC_H__ |
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#include <inttypes.h> |
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#include <AP_Common.h> |
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#include <AP_Math.h> |
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#include <RC_Channel.h> |
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class AP_MotorsHeli_RSC { |
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public: |
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AP_MotorsHeli_RSC(RC_Channel& servo_output, |
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int8_t servo_output_channel, |
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uint16_t loop_rate) : |
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_servo_output(servo_output), |
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_servo_output_channel(servo_output_channel), |
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_loop_rate(loop_rate) |
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{}; |
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// set_critical_speed
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void set_critical_speed(int16_t critical_speed) { _critical_speed = critical_speed; } |
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// get_critical_speed
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int16_t get_critical_speed() const { return _critical_speed; } |
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// get_desired_speed
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int16_t get_desired_speed() const { return _desired_speed; } |
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// set_desired_speed
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void set_desired_speed(int16_t desired_speed) { _desired_speed = desired_speed; } |
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// get_estimated_speed
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int16_t get_estimated_speed() const { return _estimated_speed; } |
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// is_runup_complete
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bool is_runup_complete() const { return _runup_complete; } |
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// set_ramp_time
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void set_ramp_time (int8_t ramp_time) { _ramp_time = ramp_time; } |
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// set_runup_time
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void set_runup_time (int8_t runup_time) { _runup_time = runup_time; } |
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// recalc_scalers
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void recalc_scalers(); |
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// output_armed
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void output_armed (); |
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// output_disarmed
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void output_disarmed (); |
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private: |
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// external variables
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RC_Channel& _servo_output; |
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int8_t _servo_output_channel; // output channel to rotor esc
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float _loop_rate; // main loop rate
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// internal variables
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int16_t _critical_speed = 0; // rotor speed below which flight is not possible
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int16_t _desired_speed = 0; // latest desired rotor speed from pilot
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float _speed_out = 0; // latest output sent to the main rotor or an estimate of the rotors actual speed (whichever is higher) (0 ~ 1000)
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float _estimated_speed = 0; // estimated speed of the main rotor (0~1000)
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float _ramp_increment = 0; // the amount we can increase the rotor output during each 100hz iteration
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int8_t _ramp_time = 0; // time in seconds for the output to the main rotor's ESC to reach full speed
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int8_t _runup_time = 0; // time in seconds for the main rotor to reach full speed. Must be longer than _rsc_ramp_time
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float _runup_increment = 0; // the amount we can increase the rotor's estimated speed during each 100hz iteration
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bool _runup_complete = false; // flag for determining if runup is complete
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// write_rsc - outputs pwm onto output rsc channel. servo_out parameter is of the range 0 ~ 1000
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void write_rsc(int16_t servo_out); |
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}; |
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#endif // AP_MOTORS_HELI_RSC_H
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