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306 lines
9.9 KiB
306 lines
9.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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/* |
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* AP_MotorsHeli.cpp - ArduCopter motors library |
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* Code by RandyMackay. DIYDrones.com |
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* |
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*/ |
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#include <stdlib.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_MotorsHeli.h" |
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extern const AP_HAL::HAL& hal; |
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const AP_Param::GroupInfo AP_MotorsHeli::var_info[] PROGMEM = { |
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// @Param: ROL_MAX |
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// @DisplayName: Swash Roll Angle Max |
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// @Description: Maximum roll angle of the swash plate |
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// @Range: 0 18000 |
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// @Units: Centi-Degrees |
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// @Increment: 100 |
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// @User: Advanced |
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AP_GROUPINFO("ROL_MAX", 1, AP_MotorsHeli, _roll_max, AP_MOTORS_HELI_SWASH_ROLL_MAX), |
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// @Param: PIT_MAX |
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// @DisplayName: Swash Pitch Angle Max |
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// @Description: Maximum pitch angle of the swash plate |
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// @Range: 0 18000 |
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// @Units: Centi-Degrees |
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// @Increment: 100 |
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// @User: Advanced |
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AP_GROUPINFO("PIT_MAX", 2, AP_MotorsHeli, _pitch_max, AP_MOTORS_HELI_SWASH_PITCH_MAX), |
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// @Param: COL_MIN |
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// @DisplayName: Collective Pitch Minimum |
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// @Description: Lowest possible servo position for the swashplate |
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// @Range: 1000 2000 |
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// @Units: PWM |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("COL_MIN", 3, AP_MotorsHeli, _collective_min, AP_MOTORS_HELI_COLLECTIVE_MIN), |
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// @Param: COL_MAX |
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// @DisplayName: Collective Pitch Maximum |
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// @Description: Highest possible servo position for the swashplate |
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// @Range: 1000 2000 |
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// @Units: PWM |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("COL_MAX", 4, AP_MotorsHeli, _collective_max, AP_MOTORS_HELI_COLLECTIVE_MAX), |
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// @Param: COL_MID |
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// @DisplayName: Collective Pitch Mid-Point |
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// @Description: Swash servo position corresponding to zero collective pitch (or zero lift for Assymetrical blades) |
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// @Range: 1000 2000 |
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// @Units: PWM |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("COL_MID", 5, AP_MotorsHeli, _collective_mid, AP_MOTORS_HELI_COLLECTIVE_MID), |
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// @Param: SV_MAN |
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// @DisplayName: Manual Servo Mode |
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// @Description: Pass radio inputs directly to servos for set-up. Do not set this manually! |
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// @Values: 0:Disabled,1:Enabled |
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// @User: Standard |
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AP_GROUPINFO("SV_MAN", 6, AP_MotorsHeli, _servo_manual, 0), |
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// @Param: GOV_SETPOINT |
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// @DisplayName: External Motor Governor Setpoint |
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// @Description: PWM passed to the external motor governor when external governor is enabled |
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// @Range: 0 1000 |
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// @Units: PWM |
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// @Increment: 10 |
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// @User: Standard |
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AP_GROUPINFO("RSC_SETPOINT", 7, AP_MotorsHeli, _rsc_setpoint, AP_MOTORS_HELI_RSC_SETPOINT), |
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// @Param: RSC_MODE |
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// @DisplayName: Rotor Speed Control Mode |
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// @Description: Controls the source of the desired rotor speed, either ch8 or RSC_SETPOINT |
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// @Values: 1:Ch8 Input, 2:SetPoint |
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// @User: Standard |
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AP_GROUPINFO("RSC_MODE", 8, AP_MotorsHeli, _rsc_mode, AP_MOTORS_HELI_RSC_MODE_CH8_PASSTHROUGH), |
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// @Param: LAND_COL_MIN |
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// @DisplayName: Landing Collective Minimum |
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// @Description: Minimum collective position while landed or landing |
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// @Range: 0 500 |
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// @Units: pwm |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("LAND_COL_MIN", 9, AP_MotorsHeli, _land_collective_min, AP_MOTORS_HELI_LAND_COLLECTIVE_MIN), |
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// @Param: RSC_RAMP_TIME |
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// @DisplayName: RSC Ramp Time |
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// @Description: Time in seconds for the output to the main rotor's ESC to reach full speed |
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// @Range: 0 60 |
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// @Units: Seconds |
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// @User: Standard |
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AP_GROUPINFO("RSC_RAMP_TIME", 10, AP_MotorsHeli, _rsc_ramp_time, AP_MOTORS_HELI_RSC_RAMP_TIME), |
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// @Param: RSC_RUNUP_TIME |
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// @DisplayName: RSC Runup Time |
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// @Description: Time in seconds for the main rotor to reach full speed. Must be longer than RSC_RAMP_TIME |
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// @Range: 0 60 |
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// @Units: Seconds |
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// @User: Standard |
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AP_GROUPINFO("RSC_RUNUP_TIME", 11, AP_MotorsHeli, _rsc_runup_time, AP_MOTORS_HELI_RSC_RUNUP_TIME), |
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// @Param: RSC_CRITICAL |
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// @DisplayName: Critical Rotor Speed |
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// @Description: Rotor speed below which flight is not possible |
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// @Range: 0 1000 |
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// @Increment: 10 |
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// @User: Standard |
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AP_GROUPINFO("RSC_CRITICAL", 12, AP_MotorsHeli, _rsc_critical, AP_MOTORS_HELI_RSC_CRITICAL), |
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// @Param: RSC_IDLE |
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// @DisplayName: Rotor Speed Output at Idle |
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// @Description: Rotor speed output while armed but rotor control speed is not engaged |
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// @Range: 0 500 |
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// @Increment: 10 |
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// @User: Standard |
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AP_GROUPINFO("RSC_IDLE", 13, AP_MotorsHeli, _rsc_idle, AP_MOTORS_HELI_RSC_IDLE_DEFAULT), |
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AP_GROUPEND |
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}; |
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// |
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// public methods |
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// |
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// init |
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void AP_MotorsHeli::Init() |
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{ |
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// set update rate |
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set_update_rate(_speed_hz); |
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// ensure inputs are not passed through to servos |
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_servo_manual = 0; |
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// initialise some scalers |
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recalc_scalers(); |
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// initialise swash plate |
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init_swash(); |
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} |
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// output - sends commands to the servos |
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void AP_MotorsHeli::output() |
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{ |
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// update throttle filter |
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update_throttle_filter(); |
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if (_flags.armed) { |
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if (!_flags.interlock) { |
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output_armed_zero_throttle(); |
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} else if (_flags.stabilizing) { |
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output_armed_stabilizing(); |
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} else { |
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output_armed_not_stabilizing(); |
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} |
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} else { |
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output_disarmed(); |
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} |
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}; |
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// parameter_check - check if helicopter specific parameters are sensible |
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bool AP_MotorsHeli::parameter_check() const |
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{ |
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// returns false if _rsc_setpoint is not higher than _rsc_critical as this would not allow rotor_runup_complete to ever return true |
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if (_rsc_critical >= _rsc_setpoint) { |
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return false; |
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} |
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// returns false if RSC Mode is not set to a valid control mode |
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if (_rsc_mode <= AP_MOTORS_HELI_RSC_MODE_DISABLED || _rsc_mode > AP_MOTORS_HELI_RSC_MODE_SETPOINT) { |
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return false; |
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} |
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// returns false if RSC Runup Time is less than Ramp time as this could cause undesired behaviour of rotor speed estimate |
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if (_rsc_runup_time <= _rsc_ramp_time){ |
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return false; |
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} |
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// returns false if Critical Rotor speed is not higher than Idle speed |
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if (_rsc_critical <= _rsc_idle){ |
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return false; |
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} |
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// all other cases parameters are OK |
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return true; |
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} |
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// reset_swash - free up swash for maximum movements. Used for set-up |
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void AP_MotorsHeli::reset_swash() |
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{ |
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// free up servo ranges |
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reset_servos(); |
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// calculate factors based on swash type and servo position |
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calculate_roll_pitch_collective_factors(); |
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// set roll, pitch and throttle scaling |
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_roll_scaler = 1.0f; |
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_pitch_scaler = 1.0f; |
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_collective_scalar = ((float)(_throttle_radio_max - _throttle_radio_min))/1000.0f; |
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_collective_scalar_manual = 1.0f; |
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// we must be in set-up mode so mark swash as uninitialised |
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_heliflags.swash_initialised = false; |
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} |
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// reset_swash_servo |
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void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo) |
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{ |
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servo.radio_min = 1000; |
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servo.radio_max = 2000; |
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} |
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// init_swash - initialise the swash plate |
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void AP_MotorsHeli::init_swash() |
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{ |
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// swash servo initialisation |
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init_servos(); |
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// range check collective min, max and mid |
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if( _collective_min >= _collective_max ) { |
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_collective_min = 1000; |
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_collective_max = 2000; |
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} |
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_collective_mid = constrain_int16(_collective_mid, _collective_min, _collective_max); |
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// calculate collective mid point as a number from 0 to 1000 |
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_collective_mid_pwm = ((float)(_collective_mid-_collective_min))/((float)(_collective_max-_collective_min))*1000.0f; |
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// determine roll, pitch and collective input scaling |
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_roll_scaler = (float)_roll_max/4500.0f; |
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_pitch_scaler = (float)_pitch_max/4500.0f; |
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_collective_scalar = ((float)(_collective_max-_collective_min))/1000.0f; |
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// calculate factors based on swash type and servo position |
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calculate_roll_pitch_collective_factors(); |
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// mark swash as initialised |
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_heliflags.swash_initialised = true; |
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} |
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// init_swash_servo |
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void AP_MotorsHeli::init_swash_servo(RC_Channel& servo) |
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{ |
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servo.set_range(0, 1000); |
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servo.radio_min = 1000; |
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servo.radio_max = 2000; |
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} |
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// set_delta_phase_angle for setting variable phase angle compensation and force |
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// recalculation of collective factors |
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void AP_MotorsHeli::set_delta_phase_angle(int16_t angle) |
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{ |
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angle = constrain_int16(angle, -90, 90); |
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_delta_phase_angle = angle; |
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calculate_roll_pitch_collective_factors(); |
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} |
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// update the throttle input filter |
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void AP_MotorsHeli::update_throttle_filter() |
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{ |
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_throttle_filter.apply(_throttle_in, 1.0f/_loop_rate); |
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// constrain throttle signal to 0-1000 |
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_throttle_control_input = constrain_float(_throttle_filter.get(),0.0f,1000.0f); |
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} |
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// set_radio_passthrough used to pass radio inputs directly to outputs |
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void AP_MotorsHeli::set_radio_passthrough(int16_t radio_roll_input, int16_t radio_pitch_input, int16_t radio_throttle_input, int16_t radio_yaw_input) |
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{ |
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_roll_radio_passthrough = radio_roll_input; |
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_pitch_radio_passthrough = radio_pitch_input; |
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_throttle_radio_passthrough = radio_throttle_input; |
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_yaw_radio_passthrough = radio_yaw_input; |
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} |
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// reset_radio_passthrough used to reset all radio inputs to center |
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void AP_MotorsHeli::reset_radio_passthrough() |
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{ |
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_roll_radio_passthrough = 0; |
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_pitch_radio_passthrough = 0; |
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_throttle_radio_passthrough = 500; |
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_yaw_radio_passthrough = 0; |
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}
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