Line data    Source code

       1             : /// @file       AP_MotorsHeli_Single.h
       2             : /// @brief      Motor control class for traditional heli
       3             : #pragma once
       4             : 
       5             : #include <AP_Common/AP_Common.h>
       6             : #include <AP_Math/AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
       7             : #include <SRV_Channel/SRV_Channel.h>
       8             : #include "AP_MotorsHeli.h"
       9             : #include "AP_MotorsHeli_RSC.h"
      10             : #include "AP_MotorsHeli_Swash.h"
      11             : #include "AP_Motors_Thrust_Linearization.h"
      12             : 
      13             : // rsc function output channel
      14             : #define AP_MOTORS_HELI_SINGLE_TAILRSC                          CH_7
      15             : 
      16             : // direct-drive variable pitch defaults
      17             : #define AP_MOTORS_HELI_SINGLE_DDVP_SPEED_DEFAULT               50
      18             : 
      19             : // tail rotor ramp time in seconds
      20             : #define AP_MOTORS_HELI_SINGLE_TAIL_RAMP_TIME_DEFAULT           1
      21             : 
      22             : // COLYAW parameter min and max values
      23             : #define AP_MOTORS_HELI_SINGLE_COLYAW_RANGE                     5.0f
      24             : 
      25             : // maximum number of swashplate servos
      26             : #define AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS            3
      27             : 
      28             : /// @class      AP_MotorsHeli_Single
      29             : class AP_MotorsHeli_Single : public AP_MotorsHeli {
      30             : public:
      31             :     // constructor
      32          80 :     AP_MotorsHeli_Single(uint16_t speed_hz = AP_MOTORS_HELI_SPEED_DEFAULT) :
      33             :         AP_MotorsHeli(speed_hz),
      34          80 :         _tail_rotor(SRV_Channel::k_heli_tail_rsc, AP_MOTORS_HELI_SINGLE_TAILRSC, 1U),
      35         160 :         _swashplate(AP_MOTORS_MOT_1, AP_MOTORS_MOT_2, AP_MOTORS_MOT_3, AP_MOTORS_MOT_5, 1U)
      36             :     {
      37          80 :         AP_Param::setup_object_defaults(this, var_info);
      38          80 :     };
      39             : 
      40             :     // set update rate to motors - a value in hertz
      41             :     void set_update_rate(uint16_t speed_hz) override;
      42             : 
      43             :     // output_to_motors - sends values out to the motors
      44             :     void output_to_motors() override;
      45             : 
      46             :     // calculate_armed_scalars - recalculates scalars that can change while armed
      47             :     void calculate_armed_scalars() override;
      48             : 
      49             :     // calculate_scalars - recalculates various scalars used
      50             :     void calculate_scalars() override;
      51             : 
      52             :     // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
      53             :     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
      54             :     uint32_t get_motor_mask() override;
      55             : 
      56             :     // Run arming checks
      57             :     bool arming_checks(size_t buflen, char *buffer) const override;
      58             : 
      59             :     // Helper function for param conversions to be done in motors class
      60             :     void heli_motors_param_conversions(void) override;
      61             : 
      62             :     // Thrust Linearization handling
      63             :     Thrust_Linearization thr_lin {*this};
      64             : 
      65             : #if HAL_LOGGING_ENABLED
      66             :     // Blade angle logging - called at 10 Hz
      67             :     void Log_Write(void) override;
      68             : #endif
      69             : 
      70             :     // var_info
      71             :     static const struct AP_Param::GroupInfo var_info[];
      72             : 
      73             : protected:
      74             : 
      75             :     // init_outputs - initialise Servo/PWM ranges and endpoints
      76             :     void init_outputs() override;
      77             : 
      78             :     // update_motor_controls - sends commands to motor controllers
      79             :     void update_motor_control(AP_MotorsHeli_RSC::DesiredRSCSpoolState state) override;
      80             : 
      81             :     // update_spool_state - updates the spool state based on the desired state
      82             :     AP_Motors::SpoolState update_spool_state(AP_MotorsHeli_RSC::DesiredRSCSpoolState state) override;
      83             : 
      84             :     // heli_move_actuators - moves swash plate and tail rotor
      85             :     void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;
      86             : 
      87             :     // move_yaw - moves the yaw servo
      88             :     void move_yaw(float yaw_out);
      89             : 
      90             :     // Get yaw offset required to cancel out steady state main rotor torque
      91             :     float get_yaw_offset(float collective);
      92             : 
      93             :     // handle output limit flags and send throttle to servos lib
      94             :     void output_to_ddfp_tail(float throttle);
      95             : 
      96             :     // servo_test - move servos through full range of movement
      97             :     void servo_test() override;
      98             : 
      99             :     // Tail types
     100             :     enum class TAIL_TYPE {
     101             :         SERVO = 0,
     102             :         SERVO_EXTGYRO_OLD = 1,
     103             :         DIRECTDRIVE_VARPITCH = 2,
     104             :         DIRECTDRIVE_FIXEDPITCH_CW = 3,
     105             :         DIRECTDRIVE_FIXEDPITCH_CCW = 4,
     106             :         DIRECTDRIVE_VARPIT_EXT_GOV = 5
     107             :     };
     108             : 
     109    11989560 :     TAIL_TYPE get_tail_type() const { return TAIL_TYPE(_tail_type.get()); }
     110             : 
     111             :     // Helper to return true for direct drive fixed pitch tail, either CW or CCW
     112             :     bool have_DDFP_tail() const;
     113             : 
     114             :     // Helper to return true if the tail RSC should be used
     115             :     bool use_tail_RSC() const;
     116             : 
     117             :     // external objects we depend upon
     118             :     AP_MotorsHeli_RSC   _tail_rotor;            // tail rotor
     119             :     AP_MotorsHeli_Swash _swashplate;            // swashplate
     120             : 
     121             :     // internal variables
     122             :     float _oscillate_angle = 0.0f;              // cyclic oscillation angle, used by servo_test function
     123             :     float _servo_test_cycle_time = 0.0f;        // cycle time tracker, used by servo_test function
     124             :     float _collective_test = 0.0f;              // over-ride for collective output, used by servo_test function
     125             :     float _roll_test = 0.0f;                    // over-ride for roll output, used by servo_test function
     126             :     float _pitch_test = 0.0f;                   // over-ride for pitch output, used by servo_test function
     127             :     float _yaw_test = 0.0f;                     // over-ride for yaw output, used by servo_test function
     128             :     float _servo4_out = 0.0f;                   // output value sent to motor
     129             : 
     130             :     // parameters
     131             :     AP_Int16        _tail_type;                 // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
     132             :     AP_Int16        _direct_drive_tailspeed;    // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
     133             :     AP_Int8         _direct_drive_ramp_time;    // Time in seconds for throttle output (TailHeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off).
     134             :     AP_Float        _collective_yaw_scale;      // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
     135             :     AP_Float        _yaw_trim;                  // Fixed offset applied to yaw output to reduce yaw I.
     136             : };