You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
221 lines
7.2 KiB
221 lines
7.2 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#if FRAME_CONFIG == HELI_FRAME |
|
|
|
#define HELI_SERVO_AVERAGING_DIGITAL 0 // 250Hz |
|
#define HELI_SERVO_AVERAGING_ANALOG 2 // 125Hz |
|
|
|
static int heli_manual_override = false; |
|
static float heli_throttle_scaler = 0; |
|
|
|
// heli_servo_averaging: |
|
// 0 or 1 = no averaging, 250hz |
|
// 2 = average two samples, 125hz |
|
// 3 = averaging three samples = 83.3 hz |
|
// 4 = averaging four samples = 62.5 hz |
|
// 5 = averaging 5 samples = 50hz |
|
// digital = 0 / 250hz, analog = 2 / 83.3 |
|
|
|
static void heli_init_swash() |
|
{ |
|
int i; |
|
int tilt_max[CH_3+1]; |
|
int total_tilt_max = 0; |
|
|
|
// swash servo initialisation |
|
g.heli_servo_1.set_range(0,1000); |
|
g.heli_servo_2.set_range(0,1000); |
|
g.heli_servo_3.set_range(0,1000); |
|
g.heli_servo_4.set_angle(4500); |
|
|
|
// pitch factors |
|
heli_pitchFactor[CH_1] = cos(radians(g.heli_servo1_pos)); |
|
heli_pitchFactor[CH_2] = cos(radians(g.heli_servo2_pos)); |
|
heli_pitchFactor[CH_3] = cos(radians(g.heli_servo3_pos)); |
|
|
|
// roll factors |
|
heli_rollFactor[CH_1] = cos(radians(g.heli_servo1_pos + 90)); |
|
heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90)); |
|
heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90)); |
|
|
|
// collective min / max |
|
total_tilt_max = 0; |
|
for( i=CH_1; i<=CH_3; i++ ) { |
|
tilt_max[i] = max(abs(heli_rollFactor[i]*g.heli_roll_max), abs(heli_pitchFactor[i]*g.heli_pitch_max))/100; |
|
total_tilt_max = max(total_tilt_max,tilt_max[i]); |
|
} |
|
|
|
// servo min/max values - or should I use set_range? |
|
g.heli_servo_1.radio_min = g.heli_coll_min - tilt_max[CH_1]; |
|
g.heli_servo_1.radio_max = g.heli_coll_max + tilt_max[CH_1]; |
|
g.heli_servo_2.radio_min = g.heli_coll_min - tilt_max[CH_2]; |
|
g.heli_servo_2.radio_max = g.heli_coll_max + tilt_max[CH_2]; |
|
g.heli_servo_3.radio_min = g.heli_coll_min - tilt_max[CH_3]; |
|
g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3]; |
|
|
|
// scaler for changing channel 3 radio input into collective range |
|
heli_throttle_scaler = ((float)(g.heli_coll_max - g.heli_coll_min))/1000; |
|
|
|
// reset the servo averaging |
|
for( i=0; i<=3; i++ ) |
|
heli_servo_out[i] = 0; |
|
|
|
// double check heli_servo_averaging is reasonable |
|
if( g.heli_servo_averaging < 0 || g.heli_servo_averaging < 0 > 5 ) { |
|
g.heli_servo_averaging = 0; |
|
g.heli_servo_averaging.save(); |
|
} |
|
} |
|
|
|
static void heli_move_servos_to_mid() |
|
{ |
|
heli_move_swash(0,0,1500,0); |
|
} |
|
|
|
// |
|
// heli_move_swash - moves swash plate to attitude of parameters passed in |
|
// - expected ranges: |
|
// roll : -4500 ~ 4500 |
|
// pitch: -4500 ~ 4500 |
|
// collective: 1000 ~ 2000 |
|
// yaw: -4500 ~ 4500 |
|
// |
|
static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out) |
|
{ |
|
// ensure values are acceptable: |
|
roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max); |
|
pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max); |
|
coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max); |
|
|
|
// swashplate servos |
|
g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500); |
|
if( g.heli_servo_1.get_reverse() ) |
|
g.heli_servo_1.servo_out = 3000 - g.heli_servo_1.servo_out; |
|
|
|
g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500); |
|
if( g.heli_servo_2.get_reverse() ) |
|
g.heli_servo_2.servo_out = 3000 - g.heli_servo_2.servo_out; |
|
|
|
g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500); |
|
if( g.heli_servo_3.get_reverse() ) |
|
g.heli_servo_3.servo_out = 3000 - g.heli_servo_3.servo_out; |
|
|
|
if( g.heli_servo_4.get_reverse() ) |
|
g.heli_servo_4.servo_out = -yaw_out; // should probably just use rc_4 directly like we do for a tricopter |
|
else |
|
g.heli_servo_4.servo_out = yaw_out; |
|
|
|
// use servo_out to calculate pwm_out and radio_out |
|
g.heli_servo_1.calc_pwm(); |
|
g.heli_servo_2.calc_pwm(); |
|
g.heli_servo_3.calc_pwm(); |
|
g.heli_servo_4.calc_pwm(); |
|
|
|
// add the servo values to the averaging |
|
heli_servo_out[0] += g.heli_servo_1.servo_out; |
|
heli_servo_out[1] += g.heli_servo_2.servo_out; |
|
heli_servo_out[2] += g.heli_servo_3.servo_out; |
|
heli_servo_out[3] += g.heli_servo_4.radio_out; |
|
heli_servo_out_count++; |
|
|
|
// is it time to move the servos? |
|
if( heli_servo_out_count >= g.heli_servo_averaging ) { |
|
|
|
// average the values if necessary |
|
if( g.heli_servo_averaging >= 2 ) { |
|
heli_servo_out[0] /= g.heli_servo_averaging; |
|
heli_servo_out[1] /= g.heli_servo_averaging; |
|
heli_servo_out[2] /= g.heli_servo_averaging; |
|
heli_servo_out[3] /= g.heli_servo_averaging; |
|
} |
|
|
|
// actually move the servos |
|
APM_RC.OutputCh(CH_1, heli_servo_out[0]); |
|
APM_RC.OutputCh(CH_2, heli_servo_out[1]); |
|
APM_RC.OutputCh(CH_3, heli_servo_out[2]); |
|
APM_RC.OutputCh(CH_4, heli_servo_out[3]); |
|
|
|
// output gyro value |
|
if( g.heli_ext_gyro_enabled ) { |
|
APM_RC.OutputCh(CH_7, g.heli_ext_gyro_gain); |
|
} |
|
|
|
#if INSTANT_PWM == 1 |
|
// InstantPWM |
|
APM_RC.Force_Out0_Out1(); |
|
APM_RC.Force_Out2_Out3(); |
|
#endif |
|
|
|
// reset the averaging |
|
heli_servo_out_count = 0; |
|
heli_servo_out[0] = 0; |
|
heli_servo_out[1] = 0; |
|
heli_servo_out[2] = 0; |
|
heli_servo_out[3] = 0; |
|
} |
|
} |
|
|
|
static void init_motors_out() |
|
{ |
|
#if INSTANT_PWM == 0 |
|
ICR5 = 5000; // 400 hz output CH 1, 2, 9 |
|
ICR1 = 5000; // 400 hz output CH 3, 4, 10 |
|
ICR3 = 40000; // 50 hz output CH 7, 8, 11 |
|
#endif |
|
} |
|
|
|
// these are not really motors, they're servos but we don't rename the function because it fits with the rest of the code better |
|
static void output_motors_armed() |
|
{ |
|
//static int counter = 0; |
|
g.rc_1.calc_pwm(); |
|
g.rc_2.calc_pwm(); |
|
g.rc_3.calc_pwm(); |
|
g.rc_4.calc_pwm(); |
|
|
|
if( heli_manual_override ) { |
|
// straight pass through from radio inputs to swash plate |
|
heli_move_swash( g.rc_1.control_in, g.rc_2.control_in, g.rc_3.radio_in, g.rc_4.control_in ); |
|
}else{ |
|
// source inputs from attitude controller |
|
heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_out, g.rc_4.servo_out ); |
|
} |
|
} |
|
|
|
// for helis - armed or disarmed we allow servos to move |
|
static void output_motors_disarmed() |
|
{ |
|
if(g.rc_3.control_in > 0){ |
|
// we have pushed up the throttle, remove safety |
|
motor_auto_armed = true; |
|
} |
|
|
|
output_motors_armed(); |
|
} |
|
|
|
static void output_motor_test() |
|
{ |
|
} |
|
|
|
// heli_get_scaled_throttle - user's throttle scaled to collective range |
|
// input is expected to be in the range of 0~1000 (ie. pwm) |
|
// also does equivalent of angle_boost |
|
static int heli_get_scaled_throttle(int throttle) |
|
{ |
|
float scaled_throttle = (g.heli_coll_min - 1000) + throttle * heli_throttle_scaler; |
|
return g.heli_coll_min - 1000 + (throttle * heli_throttle_scaler); |
|
} |
|
|
|
// heli_angle_boost - takes servo_out position |
|
// adds a boost depending on roll/pitch values |
|
// equivalent of quad's angle_boost function |
|
// pwm_out value should be 0 ~ 1000 |
|
static int heli_get_angle_boost(int pwm_out) |
|
{ |
|
float angle_boost_factor = cos_pitch_x * cos_roll_x; |
|
angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0); |
|
int throttle_above_center = max(1000 + pwm_out - g.heli_coll_mid,0); |
|
return pwm_out + throttle_above_center*angle_boost_factor; |
|
} |
|
|
|
#endif // HELI_FRAME
|
|
|