Line data    Source code

       1             : /// @file       AP_MotorsTri.h
       2             : /// @brief      Motor control class for Tricopters
       3             : #pragma once
       4             : 
       5             : #include "AP_Motors_config.h"
       6             : 
       7             : #if AP_MOTORS_TRI_ENABLED
       8             : 
       9             : #include <AP_Common/AP_Common.h>
      10             : #include <AP_Math/AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
      11             : #include "AP_MotorsMulticopter.h"
      12             : 
      13             : // tail servo uses channel 7
      14             : #define AP_MOTORS_CH_TRI_YAW    CH_7
      15             : 
      16             : #define AP_MOTORS_TRI_SERVO_RANGE_DEG_MIN   5   // minimum angle movement of tail servo in degrees
      17             : #define AP_MOTORS_TRI_SERVO_RANGE_DEG_MAX   80  // maximum angle movement of tail servo in degrees
      18             : 
      19             : /// @class      AP_MotorsTri
      20             : class AP_MotorsTri : public AP_MotorsMulticopter {
      21             : public:
      22             : 
      23             :     /// Constructor
      24          10 :     AP_MotorsTri(uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
      25          10 :         AP_MotorsMulticopter(speed_hz)
      26             :     {
      27          10 :     };
      28             : 
      29             :     // init
      30             :     void                init(motor_frame_class frame_class, motor_frame_type frame_type) override;
      31             : 
      32             :     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
      33             :     void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override;
      34             : 
      35             :     // set update rate to motors - a value in hertz
      36             :     void                set_update_rate( uint16_t speed_hz ) override;
      37             : 
      38             :     // output_to_motors - sends minimum values out to the motors
      39             :     virtual void        output_to_motors() override;
      40             : 
      41             :     // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
      42             :     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
      43             :     uint32_t            get_motor_mask() override;
      44             : 
      45             :     // output a thrust to all motors that match a given motor
      46             :     // mask. This is used to control tiltrotor motors in forward
      47             :     // flight. Thrust is in the range 0 to 1
      48             :     // rudder_dt applys diffential thrust for yaw in the range 0 to 1
      49             :     void                output_motor_mask(float thrust, uint32_t mask, float rudder_dt) override;
      50             : 
      51             :     // return the roll factor of any motor, this is used for tilt rotors and tail sitters
      52             :     // using copter motors for forward flight
      53             :     float               get_roll_factor(uint8_t i) override;
      54             : 
      55             :     // return the pitch factor of any motor, this is used for AP_Motors_test
      56             :     float               get_pitch_factor_json(uint8_t i);
      57             : 
      58             :     // Run arming checks
      59             :     bool arming_checks(size_t buflen, char *buffer) const override;
      60             : 
      61             :     // Get the testing order for the motors, this is used for AP_Motors_test
      62             :     uint8_t get_motor_test_order(uint8_t i);
      63             : 
      64             : protected:
      65             :     // output - sends commands to the motors
      66             :     void                output_armed_stabilizing() override;
      67             : 
      68             :     // call vehicle supplied thrust compensation if set
      69             :     void                thrust_compensation(void) override;
      70             : 
      71          22 :     const char* _get_frame_string() const override { return "TRI"; }
      72          22 :     const char*  get_type_string() const override { return _pitch_reversed ? "pitch-reversed" : ""; }
      73             : 
      74             :     // output_test_seq - spin a motor at the pwm value specified
      75             :     //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
      76             :     //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
      77             :     virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
      78             : 
      79             :     // parameters
      80             : 
      81             :     float           _pivot_angle;                       // Angle of yaw pivot
      82             :     float           _thrust_right;
      83             :     float           _thrust_rear;
      84             :     float           _thrust_left;
      85             : 
      86             :     // reverse pitch
      87             :     bool _pitch_reversed;
      88             :     bool _have_tail_servo;
      89             : };
      90             : 
      91             : #endif  // AP_MOTORS_TRI_ENABLED