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Adding new Trad Heli parameters.

master
Robert Lefebvre 13 years ago
parent
fcdc9b28f6
commit
e6b5af7143
2 changed files with 53 additions and 31 deletions
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  1. 64
      libraries/AP_Motors/AP_MotorsHeli.cpp
  2. 20
      libraries/AP_Motors/AP_MotorsHeli.h

64
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -138,6 +138,28 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = {
// @User: Standard // @User: Standard
AP_GROUPINFO("GOV_SETPOINT", 15, AP_MotorsHeli, ext_gov_setpoint, 1500), AP_GROUPINFO("GOV_SETPOINT", 15, AP_MotorsHeli, ext_gov_setpoint, 1500),
// @Param: RSC_MODE
// @DisplayName: Rotor Speed Control Mode
// @Description: This sets which ESC control mode is active.
// @Range: 1 3
// @User: Standard
AP_GROUPINFO("RSC_MODE", 16, AP_MotorsHeli, rsc_mode, 1),
// @Param: RSC_RATE
// @DisplayName: RSC Ramp Rate
// @Description: This sets the time the RSC takes to ramp up to full speed (Soft Start).
// @Range: 0 6000
// @Units: Seconds
// @User: Standard
AP_GROUPINFO("RSC_RATE", 17, AP_MotorsHeli, rsc_ramp_up_rate, 1000),
// @Param: ACRO_MODE
// @DisplayName: Acro Mode Selector
// @Description: This sets which acro mode is active. (1) is Flybarless (2) is Flybarred Pass-Through
// @Range: 1 2
// @User: Standard
AP_GROUPINFO("ACRO_MODE", 18, AP_MotorsHeli, acro_mode, 1),
AP_GROUPEND AP_GROUPEND
}; };
@ -169,7 +191,7 @@ void AP_MotorsHeli::enable()
_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_3]); // swash servo 3 _rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_3]); // swash servo 3
_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_4]); // yaw _rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_4]); // yaw
_rc->enable_out(AP_MOTORS_HELI_EXT_GYRO); // for external gyro _rc->enable_out(AP_MOTORS_HELI_EXT_GYRO); // for external gyro
_rc->enable_out(AP_MOTORS_HELI_EXT_ESC); // for external ESC _rc->enable_out(AP_MOTORS_HELI_EXT_RSC); // for external RSC
} }
// output_min - sends minimum values out to the motors // output_min - sends minimum values out to the motors
@ -198,7 +220,7 @@ void AP_MotorsHeli::output_armed()
move_swash( _rc_roll->servo_out, _rc_pitch->servo_out, _rc_throttle->servo_out, _rc_yaw->servo_out ); move_swash( _rc_roll->servo_out, _rc_pitch->servo_out, _rc_throttle->servo_out, _rc_yaw->servo_out );
ext_esc_control(); rsc_control();
} }
// output_disarmed - sends commands to the motors // output_disarmed - sends commands to the motors
@ -484,42 +506,42 @@ void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll
} }
} }
void AP_MotorsHeli::ext_esc_control() void AP_MotorsHeli::rsc_control()
{ {
switch ( AP_MOTORS_EXT_ESC_ACTIVE ) { switch ( rsc_mode ) {
case AP_MOTORS_ESC_MODE_PASSTHROUGH: case AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH:
if( armed() && _rc_8->control_in > 10 ){ if( armed() && _rc_8->control_in > 10 ){
if (ext_esc_ramp < AP_MOTORS_EXT_ESC_RAMP_UP){ if (rsc_ramp < rsc_ramp_up_rate){
ext_esc_ramp++; rsc_ramp++;
ext_esc_output = map(ext_esc_ramp, 0, AP_MOTORS_EXT_ESC_RAMP_UP, 1000, _rc_8->control_in); rsc_output = map(rsc_ramp, 0, rsc_ramp_up_rate, 1000, _rc_8->control_in);
} else { } else {
ext_esc_output = _rc_8->control_in; rsc_output = _rc_8->control_in;
} }
} else if( !armed() ) { } else if( !armed() ) {
_rc->OutputCh(AP_MOTORS_HELI_EXT_ESC, _rc_8->radio_min); _rc->OutputCh(AP_MOTORS_HELI_EXT_RSC, _rc_8->radio_min);
ext_esc_ramp = 0; //Return ESC Ramp to 0 rsc_ramp = 0; //Return RSC Ramp to 0
} }
break; break;
case AP_MOTORS_ESC_MODE_EXT_GOV: case AP_MOTORSHELI_RSC_MODE_EXT_GOV:
if( armed() && _rc_throttle->control_in > 10){ if( armed() && _rc_throttle->control_in > 10){
if (ext_esc_ramp < AP_MOTORS_EXT_ESC_RAMP_UP){ if (rsc_ramp < rsc_ramp_up_rate){
ext_esc_ramp++; rsc_ramp++;
ext_esc_output = map(ext_esc_ramp, 0, AP_MOTORS_EXT_ESC_RAMP_UP, 1000, ext_gov_setpoint); rsc_output = map(rsc_ramp, 0, rsc_ramp_up_rate, 1000, ext_gov_setpoint);
} else { } else {
ext_esc_output = ext_gov_setpoint; rsc_output = ext_gov_setpoint;
} }
} else { } else {
ext_esc_ramp--; //Return ESC Ramp to 0 rsc_ramp--; //Return RSC Ramp to 0 slowly, allowing for "warm restart"
if (ext_esc_ramp < 0){ if (rsc_ramp < 0){
ext_esc_ramp = 0; rsc_ramp = 0;
} }
ext_esc_output = 1000; //Just to be sure ESC output is 0 rsc_output = 1000; //Just to be sure RSC output is 0
} }
_rc->OutputCh(AP_MOTORS_HELI_EXT_ESC, ext_esc_output); _rc->OutputCh(AP_MOTORS_HELI_EXT_RSC, rsc_output);
break; break;
// case 3: // Open Loop ESC Control // case 3: // Open Loop ESC Control

20
libraries/AP_Motors/AP_MotorsHeli.h
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@ -34,13 +34,10 @@
#define AP_MOTORS_HELI_SWASH_CCPM 0 #define AP_MOTORS_HELI_SWASH_CCPM 0
#define AP_MOTORS_HELI_SWASH_H1 1 #define AP_MOTORS_HELI_SWASH_H1 1
// ext ESC definitions // ext RSC definitions
#define AP_MOTORS_HELI_EXT_ESC CH_8 #define AP_MOTORS_HELI_EXT_RSC CH_8
#define AP_MOTORS_ESC_MODE_PASSTHROUGH 1 #define AP_MOTORSHELI_RSC_MODE_CH8_PASSTHROUGH 1
#define AP_MOTORS_ESC_MODE_EXT_GOV 2 #define AP_MOTORSHELI_RSC_MODE_EXT_GOV 2
#define AP_MOTORS_EXT_ESC_RAMP_UP 1000 //Temporary until we can make this a parameter
#define AP_MOTORS_EXT_ESC_ACTIVE AP_MOTORS_ESC_MODE_PASSTHROUGH //Temporary until we can make this a parameter
class AP_HeliControls; class AP_HeliControls;
@ -96,6 +93,9 @@ public:
AP_Int16 collective_yaw_effect; AP_Int16 collective_yaw_effect;
AP_Int8 servo_manual; // used to trigger swash reset from mission planner AP_Int8 servo_manual; // used to trigger swash reset from mission planner
AP_Int16 ext_gov_setpoint; // maximum output to the motor governor 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 acro_mode; // selects FBL Acro Mode, or Flybarred Acro Mode
int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000) int16_t throttle_mid; // throttle mid point in pwm form (i.e. 0 ~ 1000)
@ -137,7 +137,7 @@ protected:
void output_disarmed(); void output_disarmed();
void ext_esc_control(); void rsc_control();
float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS]; float _rollFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS]; float _pitchFactor[AP_MOTORS_HELI_NUM_SWASHPLATE_SERVOS];
@ -151,8 +151,8 @@ protected:
float _pitch_scaler; // scaler to convert pitch input from radio (i.e. -4500 ~ 4500) to max pitch 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 _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)
bool _swash_initialised; // true if swash has been initialised bool _swash_initialised; // true if swash has been initialised
int16_t ext_esc_output; // final output to the external motor governor 1000-2000 int16_t rsc_output; // final output to the external motor governor 1000-2000
int16_t ext_esc_ramp; // current state of ramping int16_t rsc_ramp; // current state of ramping
}; };

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