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177 lines
6.6 KiB
177 lines
6.6 KiB
/* |
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www.ArduCopter.com - www.DIYDrones.com |
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Copyright (c) 2010. All rights reserved. |
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An Open Source Arduino based multicopter. |
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File : Arducopter.h |
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Version : v1.0, Aug 27, 2010 |
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Author(s): ArduCopter Team |
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz, |
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Jani Hirvinen, Ken McEwans, Roberto Navoni, |
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Sandro Benigno, Chris Anderson |
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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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ChangeLog: |
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* ************************************************************** * |
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TODO: |
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* ************************************************************** */ |
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#ifndef HELI_H |
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#define HELI_H |
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#include <avr/interrupt.h> |
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#include "WProgram.h" |
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#include <Wire.h> |
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#include <EEPROM.h> // added by Randy |
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library |
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#include <APM_RC.h> // ArduPilot Mega RC Library |
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#include <AP_Compass.h> // ArduPilot Mega Compass Library |
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#include <DataFlash.h> // ArduPilot Mega DataFlash Library. |
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#include "../AP_Math/AP_Math.h" |
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/**********************************************************************/ |
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// Channel definitions |
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#define CHANNEL_FRONT_LEFT 0 |
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#define CHANNEL_FRONT_RIGHT 1 |
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#define CHANNEL_REAR 2 |
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#define CHANNEL_YAW 3 |
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/**********************************************************************/ |
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// EEPROM locations |
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#define EEPROM_BASE_ADDRESS 300 |
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#define EEPROM_MAGIC_NUMBER_ADDR EEPROM_BASE_ADDRESS |
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#define FRONT_LEFT_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+4 |
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#define FRONT_LEFT_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+8 |
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#define FRONT_RIGHT_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+12 |
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#define FRONT_RIGHT_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+16 |
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#define REAR_CCPM_MIN_ADDR EEPROM_BASE_ADDRESS+20 |
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#define REAR_CCPM_MAX_ADDR EEPROM_BASE_ADDRESS+24 |
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#define YAW_MIN_ADDR EEPROM_BASE_ADDRESS+28 |
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#define YAW_MAX_ADDR EEPROM_BASE_ADDRESS+32 |
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#define THROTTLE_MIN_ADDR EEPROM_BASE_ADDRESS+36 |
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#define THROTTLE_MAX_ADDR EEPROM_BASE_ADDRESS+40 |
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#define EEPROM_MAGIC_NUMBER 12345.0 |
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#define YAW_MODE_HEADING_HOLD 0 |
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#define YAW_MODE_RATE 1 |
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#define HELI_STICK_TO_ANGLE_FACTOR 2.0 // To convert ccpm values (-50 ~ 50 ) to absolute angles. larger number means less lean |
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#define HELI_YAW_STICK_TO_ANGLE_FACTOR 0.5 // convert yaw (-50 ~ 50) to turn rate in degrees per second. larger number means slower turn rate |
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// CCPM Types |
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#define HELI_CCPM_120_TWO_FRONT_ONE_BACK 0 |
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#define HELI_CCPM_120_ONE_FRONT_TWO_BACK 1 |
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// define which CCPM we have |
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#define HELI_CCPM HELI_CCPM_120_TWO_FRONT_ONE_BACK |
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// define DeAllocation matrix(converts radio inputs to roll, pitch and collective |
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// for example roll = (inputCh0*Row1Col1) + (inputCh1*Row1Col2) + (inputCh2*Row1Col3) |
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// pitch = (inputCh0*Row2Col1) + (inputCh1*Row2Col2) + (inputCh2*Row2Col3) |
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// collective = (inputCh0*Row3Col1) + (inputCh1*Row3Col2) + (inputCh2*Row3Col3) |
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// and Allocation matrix (converts roll, pitch, collective to servo outputs) |
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// for example servo0 = (roll*Row1Col1) + (pitch*Row1Col2) + (collective*Row1Col3) |
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// servo1 = (roll*Row2Col1) + (pitch*Row2Col2) + (collective*Row2Col3) |
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// servo2 = (roll*Row3Col1) + (pitch*Row3Col2) + (collective*Row3Col3) |
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#if HELI_CCPM == HELI_CCPM_120_TWO_FRONT_ONE_BACK |
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#define CCPM_DEALLOCATION 0.5774, -0.5774, 0.0000, \ |
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0.3333, 0.3333, -0.6667, \ |
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0.3333, 0.3333, 0.3333 |
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#define CCPM_ALLOCATION 0.8660,0.5000, 1.0000, \ |
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-0.8660, 0.5000, 1.0000, \ |
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0.0000, -1.0000, 1.0000 |
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#endif |
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#if HELI_CCPM == HELI_CCPM_120_ONE_FRONT_TWO_BACK |
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#define CCPM_DEALLOCATION 0.5774, -0.5774, 0.0000, \ |
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-0.3333,-0.3333, 0.6667, \ |
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0.3333, 0.3333, 0.3333 |
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#define CCPM_ALLOCATION 0.8660, -0.5000, 1.0000, \ |
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-0.8660, -0.5000, 1.0000, \ |
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0.0000, 1.0000, 1.0000 |
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#endif |
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const Matrix3f ccpmDeallocation(CCPM_DEALLOCATION); |
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const Matrix3f ccpmAllocation(CCPM_ALLOCATION); |
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/**********************************************************************/ |
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// time variables - we run at a different hertz than quads |
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unsigned long heli_previousTimeMicros = 0; |
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// PWM Input Processing - Variable Definitions |
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float frontLeftCCPMmin; |
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float frontLeftCCPMmax; |
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float frontLeftCCPMslope; |
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float frontLeftCCPMintercept; |
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float frontRightCCPMmin; |
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float frontRightCCPMmax; |
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float frontRightCCPMslope; |
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float frontRightCCPMintercept; |
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float rearCCPMmin; |
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float rearCCPMmax; |
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float rearCCPMslope; |
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float rearCCPMintercept; |
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float yawMin; |
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float yawMax; |
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float yawSlope; |
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float yawIntercept; |
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Vector3f ccpmPercents; // Array of ccpm input values, converted to percents |
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Vector3f rollPitchCollPercent; // Array containing deallocated roll, pitch and collective percent commands |
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float ch_collective; |
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int collective_mid; |
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float control_collective; |
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float command_rx_collective; |
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float yawPercent; |
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float targetHeading; |
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// trims |
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float trim_roll = 0.0; |
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float trim_pitch = 0.0; |
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float trim_yaw = 0.0; |
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// axis under APM control |
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int roll_control_switch = 1; |
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int pitch_control_switch = 1; |
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int yaw_control_switch = 1; |
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int collective_control_switch = 0; |
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//int position_control_switch = 0; |
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//int position_control_engaged = 0; // we don't have enough buttons so we will turn this on and off with roll + pitch positions |
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//int position_control_safety = 0; // if 0 then safety is off. if 1 then safety is on and position control will not operate |
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/// for sending values out to servos |
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Vector3f ccpmPercents_out; // Array of ccpm input values, converted to percents |
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Vector3f pitchRollCollPercent_out; // Array containing deallocated pitch, roll, and collective percent commands |
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// heli debug |
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int heli_debug = 0; |
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/**********************************************************************/ |
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// Output to Servos |
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int leftOut; |
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int rightOut; |
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int rearOut; |
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int yawOut; |
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#endif HELI_H
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