Line data    Source code

       1             : /// @file   AP_MotorsHeli_Quad.h
       2             : /// @brief  Motor control class collective pitch quad helicopter (such as stingray)
       3             : 
       4             : #pragma once
       5             : 
       6             : #include <AP_Common/AP_Common.h>
       7             : #include <AP_Math/AP_Math.h>
       8             : #include <RC_Channel/RC_Channel.h>
       9             : 
      10             : #include "AP_MotorsHeli.h"
      11             : #include "AP_MotorsHeli_RSC.h"
      12             : 
      13             : // default collective min, max and midpoints for the rear swashplate
      14             : #define AP_MOTORS_HELI_QUAD_COLLECTIVE_MIN 1100
      15             : #define AP_MOTORS_HELI_QUAD_COLLECTIVE_MAX 1900
      16             : 
      17             : #define AP_MOTORS_HELI_QUAD_NUM_MOTORS 4
      18             : 
      19             : class AP_MotorsHeli_Quad : public AP_MotorsHeli {
      20             : public:
      21             :     // constructor
      22           3 :     AP_MotorsHeli_Quad(uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
      23           3 :         AP_MotorsHeli(speed_hz)
      24             :     {
      25           3 :         AP_Param::setup_object_defaults(this, var_info);
      26           3 :     };
      27             : 
      28             :     // set_update_rate - set update rate to motors
      29             :     void set_update_rate( uint16_t speed_hz ) override;
      30             : 
      31             :     // output_to_motors - sends values out to the motors
      32             :     void output_to_motors() override;
      33             : 
      34             :     // calculate_scalars - recalculates various scalars used
      35             :     void calculate_scalars() override;
      36             : 
      37             :     // servo_test - move servos through full range of movement
      38             :     void servo_test() override;
      39             : 
      40             : #if HAL_LOGGING_ENABLED
      41             :     // heli motors logging - called at 10 Hz
      42             :     void Log_Write(void) override;
      43             : #endif
      44             : 
      45             :     // var_info for holding Parameter information
      46             :     static const struct AP_Param::GroupInfo var_info[];
      47             : 
      48             : protected:
      49             : 
      50             :     // init_outputs
      51             :     void init_outputs () override;
      52             : 
      53             :     // update_motor_controls - sends commands to motor controllers
      54             :     void update_motor_control(AP_MotorsHeli_RSC::DesiredRSCSpoolState state) override;
      55             : 
      56             :     // update_spool_state - updates the spool state based on the desired state
      57             :     AP_Motors::SpoolState update_spool_state(AP_MotorsHeli_RSC::DesiredRSCSpoolState state) override;
      58             : 
      59             :     // calculate_roll_pitch_collective_factors - setup rate factors
      60             :     void calculate_roll_pitch_collective_factors ();
      61             : 
      62             :     // move_actuators - moves swash plate to attitude of parameters passed in
      63             :     void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out)  override;
      64             : 
      65           3 :     const char* _get_frame_string() const override { return "HELI_QUAD"; }
      66             : 
      67             :     // rate factors
      68             :     float _rollFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
      69             :     float _pitchFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
      70             :     float _collectiveFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
      71             :     float _yawFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
      72             :     float _out[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
      73             : };
      74             : 
      75             :