Line data    Source code

       1             : #pragma once
       2             : #if AP_SCRIPTING_ENABLED
       3             : 
       4             : #include "AP_MotorsMatrix.h"
       5             : 
       6             : class AP_MotorsMatrix_Scripting_Dynamic : public AP_MotorsMatrix {
       7             : public:
       8             : 
       9             :     // Constructor
      10           0 :     AP_MotorsMatrix_Scripting_Dynamic(uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
      11           0 :         AP_MotorsMatrix(speed_hz)
      12             :     {
      13           0 :         if (_singleton != nullptr) {
      14           0 :             AP_HAL::panic("AP_MotorsMatrix_Scripting_Dynamic must be singleton");
      15             :         }
      16           0 :         _singleton = this;
      17           0 :     };
      18             : 
      19             :     // get singleton instance
      20           0 :     static AP_MotorsMatrix_Scripting_Dynamic *get_singleton() {
      21           0 :         return _singleton;
      22             :     }
      23             : 
      24             :     struct factor_table {
      25             :         float roll[AP_MOTORS_MAX_NUM_MOTORS];
      26             :         float pitch[AP_MOTORS_MAX_NUM_MOTORS];
      27             :         float yaw[AP_MOTORS_MAX_NUM_MOTORS];
      28             :         float throttle[AP_MOTORS_MAX_NUM_MOTORS];
      29             :     };
      30             : 
      31             :     // base class method must not be used
      32           0 :     void init(motor_frame_class frame_class, motor_frame_type frame_type) override {};
      33             : 
      34             :     // Init to be called from scripting
      35             :     bool init(uint8_t expected_num_motors) override;
      36             : 
      37             :     // add a motor and give its testing order
      38             :     bool add_motor(uint8_t motor_num, uint8_t testing_order);
      39             : 
      40             :     // add a interpolation point table
      41             :     void load_factors(const factor_table &table);
      42             : 
      43             :     // output - sends commands to the motors
      44             :     void output_to_motors() override;
      45             : 
      46             : protected:
      47             : 
      48             :     // Do not apply thrust compensation, this is used by Quadplane tiltrotors
      49             :     // assume the compensation is done in the mixer and should not be done by quadplane
      50           0 :     void thrust_compensation(void) override {};
      51             : 
      52           0 :     const char* _get_frame_string() const override { return "Dynamic Matrix"; }
      53             : 
      54             : private:
      55             : 
      56             :     // True when received a factors table, will only init having received a table
      57             :     bool had_table;
      58             : 
      59             :     // For loading of new factors, cannot load while in use
      60             :     HAL_Semaphore _sem;
      61             : 
      62             :     static AP_MotorsMatrix_Scripting_Dynamic *_singleton;
      63             : };
      64             : 
      65             : #endif // AP_SCRIPTING_ENABLED