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80 lines
3.1 KiB
80 lines
3.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AP_MotorsMatrix.h |
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/// @brief Motor control class for Matrixcopters |
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#ifndef __AP_MOTORS_MATRIX_H__ |
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#define __AP_MOTORS_MATRIX_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 "AP_Motors_Class.h" |
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// comment out the line below to return to stability patch used in ArduCopter ver 2.8.1 ~ 2.9.1b |
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#define AP_MOTORS_MATRIX_SCALING_STABILITY_PATCH |
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#define AP_MOTORS_MATRIX_YAW_FACTOR_CW -1 |
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#define AP_MOTORS_MATRIX_YAW_FACTOR_CCW 1 |
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#define AP_MOTORS_MATRIX_YAW_LOWER_LIMIT_PWM 200 |
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/// @class AP_MotorsMatrix |
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class AP_MotorsMatrix : public AP_Motors { |
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public: |
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/// Constructor |
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AP_MotorsMatrix( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : |
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AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), |
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_num_motors(0) { |
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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 |
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// you must have setup_motors before calling this |
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virtual void set_update_rate( uint16_t speed_hz ); |
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// set frame orientation (normally + or X) |
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virtual void set_frame_orientation( uint8_t new_orientation ); |
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// enable - starts allowing signals to be sent to motors |
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virtual void enable(); |
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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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// add_motor using just position and yaw_factor (or prop direction) |
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void add_motor(int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order); |
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// remove_motor |
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void remove_motor(int8_t motor_num); |
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// remove_all_motors - removes all motor definitions |
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void remove_all_motors(); |
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// setup_motors - configures the motors for a given frame type - should be overwritten by child classes |
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virtual void setup_motors() { |
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remove_all_motors(); |
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}; |
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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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// add_motor using raw roll, pitch, throttle and yaw factors |
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void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order); |
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int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled |
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float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll |
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float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch |
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float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1) |
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uint8_t _test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence |
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}; |
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#endif // AP_MOTORSMATRIX
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