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244 lines
14 KiB
244 lines
14 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_MOTORS_CLASS_H__ |
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#define __AP_MOTORS_CLASS_H__ |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_Notify.h> // Notify library |
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#include <RC_Channel.h> // RC Channel Library |
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#include <Filter.h> // filter library |
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// offsets for motors in motor_out, _motor_filtered and _motor_to_channel_map arrays |
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#define AP_MOTORS_MOT_1 0 |
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#define AP_MOTORS_MOT_2 1 |
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#define AP_MOTORS_MOT_3 2 |
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#define AP_MOTORS_MOT_4 3 |
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#define AP_MOTORS_MOT_5 4 |
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#define AP_MOTORS_MOT_6 5 |
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#define AP_MOTORS_MOT_7 6 |
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#define AP_MOTORS_MOT_8 7 |
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#define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_7,CH_8,CH_10,CH_11 |
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#define APM2_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_5,CH_6,CH_7,CH_8 |
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#define AP_MOTORS_MAX_NUM_MOTORS 8 |
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#define AP_MOTORS_DEFAULT_MIN_THROTTLE 130 |
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#define AP_MOTORS_DEFAULT_MID_THROTTLE 500 |
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#define AP_MOTORS_DEFAULT_MAX_THROTTLE 1000 |
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// APM board definitions |
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#define AP_MOTORS_APM1 1 |
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#define AP_MOTORS_APM2 2 |
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// frame definitions |
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#define AP_MOTORS_PLUS_FRAME 0 |
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#define AP_MOTORS_X_FRAME 1 |
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#define AP_MOTORS_V_FRAME 2 |
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#define AP_MOTORS_H_FRAME 3 // same as X frame but motors spin in opposite direction |
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#define AP_MOTORS_VTAIL_FRAME 4 // Lynxmotion Hunter VTail 400/500 |
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#define AP_MOTORS_ATAIL_FRAME 5 // A-Shaped VTail Quads |
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#define AP_MOTORS_NEW_PLUS_FRAME 10 // NEW frames are same as original 4 but with motor orders changed to be clockwise from the front |
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#define AP_MOTORS_NEW_X_FRAME 11 |
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#define AP_MOTORS_NEW_V_FRAME 12 |
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#define AP_MOTORS_NEW_H_FRAME 13 // same as X frame but motors spin in opposite direction |
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// motor update rate |
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#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors |
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#define THROTTLE_CURVE_ENABLED 1 // throttle curve disabled by default |
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#define THROTTLE_CURVE_MID_THRUST 52 // throttle which produces 1/2 the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100) |
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#define THROTTLE_CURVE_MAX_THRUST 93 // throttle which produces the maximum thrust. expressed as a percentage of the full throttle range (i.e 0 ~ 100) |
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#define AP_MOTORS_SPIN_WHEN_ARMED 70 // spin motors at this PWM value when armed |
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#define AP_MOTORS_YAW_HEADROOM_DEFAULT 200 |
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#define AP_MOTORS_THR_LOW_CMP_DEFAULT 0.5f // ratio controlling the max throttle output during competing requests of low throttle from the pilot (or autopilot) and higher throttle for attitude control. Higher favours Attitude over pilot input |
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#define AP_MOTORS_THST_EXPO_DEFAULT 0.5f // set to 0 for linear and 1 for second order approximation |
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#define AP_MOTORS_THST_MAX_DEFAULT 0.95f // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range |
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#define AP_MOTORS_THST_BAT_MAX_DEFAULT 0.0f |
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#define AP_MOTORS_THST_BAT_MIN_DEFAULT 0.0f |
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#define AP_MOTORS_CURR_MAX_DEFAULT 0.0f // current limiting max default |
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#define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5f // battery voltage filtered at 0.5hz |
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// bit mask for recording which limits we have reached when outputting to motors |
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#define AP_MOTOR_NO_LIMITS_REACHED 0x00 |
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#define AP_MOTOR_ROLLPITCH_LIMIT 0x01 |
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#define AP_MOTOR_YAW_LIMIT 0x02 |
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#define AP_MOTOR_THROTTLE_LIMIT 0x04 |
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#define AP_MOTOR_ANY_LIMIT 0xFF |
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// To-Do: replace this hard coded counter with a timer |
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#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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// slow start increments - throttle increase per (100hz) iteration. i.e. 5 = full speed in 2 seconds |
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#define AP_MOTOR_SLOW_START_INCREMENT 10 // max throttle ramp speed (i.e. motors can reach full throttle in 1 second) |
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#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 2 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 1 second) |
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#else |
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// slow start increments - throttle increase per (400hz) iteration. i.e. 1 = full speed in 2.5 seconds |
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#define AP_MOTOR_SLOW_START_INCREMENT 3 // max throttle ramp speed (i.e. motors can reach full throttle in 0.8 seconds) |
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#define AP_MOTOR_SLOW_START_LOW_END_INCREMENT 1 // min throttle ramp speed (i.e. motors will speed up from zero to _spin_when_armed speed in about 0.3 second) |
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#endif |
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/// @class AP_Motors |
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class AP_Motors { |
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public: |
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// Constructor |
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AP_Motors(RC_Channel& rc_roll, RC_Channel& rc_pitch, RC_Channel& rc_throttle, RC_Channel& rc_yaw, uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT); |
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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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virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = 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 ) { _flags.frame_orientation = new_orientation; }; |
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// enable - starts allowing signals to be sent to motors |
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virtual void enable() = 0; |
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// arm, disarm or check status status of motors |
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bool armed() const { return _flags.armed; }; |
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void armed(bool arm); |
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// set_min_throttle - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle) |
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void set_min_throttle(uint16_t min_throttle); |
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// set_hover_throttle - sets the mid throttle which is close to the hover throttle of the copter |
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// this is used to limit the amount that the stability patch will increase the throttle to give more room for roll, pitch and yaw control |
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void set_hover_throttle(uint16_t hov_thr) { _hover_out = hov_thr; } |
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// get_hover_throttle_as_pwm - converts hover throttle to pwm (i.e. range 1000 ~ 2000) |
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int16_t get_hover_throttle_as_pwm() const; |
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int16_t throttle_min() const { return _min_throttle;} |
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int16_t throttle_max() const { return _max_throttle;} |
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// set_roll, set_pitch, set_yaw, set_throttle |
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void set_roll(int16_t roll_in) { _rc_roll.servo_out = roll_in; }; // range -4500 ~ 4500 |
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void set_pitch(int16_t pitch_in) { _rc_pitch.servo_out = pitch_in; }; // range -4500 ~ 4500 |
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void set_yaw(int16_t yaw_in) { _rc_yaw.servo_out = yaw_in; }; // range -4500 ~ 4500 |
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void set_throttle(int16_t throttle_in) { _rc_throttle.servo_out = throttle_in; }; // range 0 ~ 1000 |
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// get_throttle_out - returns throttle sent to motors in the range 0 ~ 1000 |
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int16_t get_throttle_out() const { return _rc_throttle.servo_out; } |
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// output - sends commands to the motors |
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void output(); |
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// output_min - sends minimum values out to the motors |
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virtual void output_min() = 0; |
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// output_test - spin a motor at the pwm value specified |
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// motor_seq is the motor's sequence number from 1 to the number of motors on the frame |
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// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000 |
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virtual void output_test(uint8_t motor_seq, int16_t pwm) = 0; |
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// throttle_pass_through - passes provided pwm directly to all motors - dangerous but used for initialising ESCs |
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// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000 |
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virtual void throttle_pass_through(int16_t pwm); |
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// set_yaw_headroom - set yaw headroom (yaw is given at least this amount of pwm) |
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virtual void set_yaw_headroom(int16_t pwm) { _yaw_headroom = pwm; } |
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// set_voltage - set voltage to be used for output scaling |
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virtual void set_voltage(float volts){ _batt_voltage = volts; } |
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// set_current - set current to be used for output scaling |
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virtual void set_current(float current){ _batt_current = current; } |
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// 1 if motor is enabled, 0 otherwise |
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bool motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]; |
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// slow_start - set to true to slew motors from current speed to maximum |
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// Note: this must be set immediately before a step up in throttle |
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void slow_start(bool true_false); |
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// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used) |
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// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict |
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virtual uint16_t get_motor_mask() = 0; |
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// structure for holding motor limit flags |
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struct AP_Motors_limit { |
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uint8_t roll_pitch : 1; // we have reached roll or pitch limit |
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uint8_t yaw : 1; // we have reached yaw limit |
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uint8_t throttle_lower : 1; // we have reached throttle's lower limit |
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uint8_t throttle_upper : 1; // we have reached throttle's upper limit |
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} limit; |
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// var_info for holding Parameter information |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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// output functions that should be overloaded by child classes |
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virtual void output_armed() {}; |
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virtual void output_disarmed() {}; |
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// update_max_throttle - updates the limits on _max_throttle for slow_start and current limiting flag |
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void update_max_throttle(); |
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// current_limit_max_throttle - current limit maximum throttle (called from update_max_throttle) |
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void current_limit_max_throttle(); |
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// apply_thrust_curve_and_volt_scaling - thrust curve and voltage adjusted pwm value (i.e. 1000 ~ 2000) |
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int16_t apply_thrust_curve_and_volt_scaling(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const; |
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// update_lift_max_from_batt_voltage - used for voltage compensation |
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void update_lift_max_from_batt_voltage(); |
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// update_battery_resistance - calculate battery resistance when throttle is above hover_out |
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void update_battery_resistance(); |
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// get_voltage_comp_gain - return battery voltage compensation gain |
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float get_voltage_comp_gain() const { return 1.0f/_lift_max; } |
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// flag bitmask |
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struct AP_Motors_flags { |
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uint8_t armed : 1; // 1 if the motors are armed, 0 if disarmed |
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uint8_t frame_orientation : 4; // PLUS_FRAME 0, X_FRAME 1, V_FRAME 2, H_FRAME 3, NEW_PLUS_FRAME 10, NEW_X_FRAME, NEW_V_FRAME, NEW_H_FRAME |
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uint8_t slow_start : 1; // 1 if slow start is active |
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uint8_t slow_start_low_end : 1; // 1 just after arming so we can ramp up the spin_when_armed value |
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} _flags; |
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// mapping of motor number (as received from upper APM code) to RC channel output - used to account for differences between APM1 and APM2 |
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static const uint8_t _motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM; |
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// parameters |
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AP_Int16 _spin_when_armed; // used to control whether the motors always spin when armed. pwm value above radio_min |
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AP_Int16 _yaw_headroom; // yaw control is given at least this pwm range |
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AP_Float _throttle_low_comp; // mix between throttle and hover throttle for 0 to 1 and ratio above hover throttle for >1 |
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AP_Float _thrust_curve_expo; // curve used to linearize pwm to thrust conversion. set to 0 for linear and 1 for second order approximation |
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AP_Float _thrust_curve_max; // throttle which produces the maximum thrust. (i.e. 0 ~ 1 ) of the full throttle range |
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AP_Float _batt_voltage_max; // maximum voltage used to scale lift |
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AP_Float _batt_voltage_min; // minimum voltage used to scale lift |
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AP_Float _batt_current_max; // current over which maximum throttle is limited |
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// internal variables |
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RC_Channel& _rc_roll; // roll input in from users is held in servo_out |
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RC_Channel& _rc_pitch; // pitch input in from users is held in servo_out |
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RC_Channel& _rc_throttle; // throttle input in from users is held in servo_out |
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RC_Channel& _rc_yaw; // yaw input in from users is held in servo_out |
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uint16_t _loop_rate; // rate at which output() function is called (normally 400hz) |
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uint16_t _speed_hz; // speed in hz to send updates to motors |
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int16_t _min_throttle; // the minimum throttle to be sent to the motors when they're on (prevents motors stalling while flying) |
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int16_t _max_throttle; // the maximum throttle to be sent to the motors (sometimes limited by slow start) |
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int16_t _hover_out; // the estimated hover throttle as pct * 10 (i.e. 0 ~ 1000) |
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int16_t _spin_when_armed_ramped;// equal to _spin_when_armed parameter but slowly ramped up from zero |
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// battery voltage compensation variables |
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float _batt_voltage; // latest battery voltage reading |
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float _batt_voltage_resting; // battery voltage reading at minimum throttle |
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LowPassFilterFloat _batt_voltage_filt; // filtered battery voltage expressed as a percentage (0 ~ 1.0) of batt_voltage_max |
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float _batt_current; // latest battery current reading |
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float _batt_current_resting; // battery's current when motors at minimum |
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float _batt_resistance; // battery's resistance calculated by comparing resting voltage vs in flight voltage |
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int16_t _batt_timer; // timer used in battery resistance calcs |
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float _lift_max; // maximum lift ratio from battery voltage |
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float _throttle_limit; // ratio of throttle limit between hover and maximum |
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}; |
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#endif // __AP_MOTORS_CLASS_H__
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