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75 lines
2.9 KiB
75 lines
2.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AP_MotorsCoax.h |
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/// @brief Motor and Servo control class for Co-axial helicopters with two motors and two flaps |
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#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <RC_Channel/RC_Channel.h> // RC Channel Library |
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#include "AP_MotorsMulticopter.h" |
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// feedback direction |
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#define AP_MOTORS_COAX_POSITIVE 1 |
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#define AP_MOTORS_COAX_NEGATIVE -1 |
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#define NUM_ACTUATORS 4 |
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#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos |
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#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos |
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#define AP_MOTORS_COAX_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max) |
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/// @class AP_MotorsSingle |
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class AP_MotorsCoax : public AP_MotorsMulticopter { |
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public: |
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/// Constructor |
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AP_MotorsCoax(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : |
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AP_MotorsMulticopter(loop_rate, speed_hz), |
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_servo1(CH_1), _servo2(CH_2), _servo3(CH_3), _servo4(CH_4) |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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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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void set_update_rate( uint16_t speed_hz ); |
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// enable - starts allowing signals to be sent to motors |
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virtual void enable(); |
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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); |
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// output_to_motors - sends minimum values out to the motors |
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virtual void output_to_motors(); |
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// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (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(); |
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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 - sends commands to the motors |
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void output_armed_stabilizing(); |
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// servo speed |
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AP_Int16 _servo_speed; |
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// Allow the use of a 4 servo output to make it easy to test coax and single using same airframe |
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RC_Channel _servo1; |
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RC_Channel _servo2; |
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RC_Channel _servo3; |
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RC_Channel _servo4; |
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float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range |
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float _thrust_yt_ccw; |
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float _thrust_yt_cw; |
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};
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