N3_sub/libraries/AP_Motors/AP_Motors6DOF.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 *       AP_Motors6DOF.cpp - ArduSub motors library
 */

#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_Motors6DOF.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include "../../ArduSub/Sub.h"

extern const AP_HAL::HAL& hal;

// parameters for the motor class
const AP_Param::GroupInfo AP_Motors6DOF::var_info[] = {
    AP_NESTEDGROUPINFO(AP_MotorsMulticopter, 0),
    // @Param: 1_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("1_DIRECTION", 1, AP_Motors6DOF, _motor_reverse[0], 1),

    // @Param: 2_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("2_DIRECTION", 2, AP_Motors6DOF, _motor_reverse[1], 1),

    // @Param: 3_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("3_DIRECTION", 3, AP_Motors6DOF, _motor_reverse[2], 1),

    // @Param: 4_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("4_DIRECTION", 4, AP_Motors6DOF, _motor_reverse[3], 1),

    // @Param: 5_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("5_DIRECTION", 5, AP_Motors6DOF, _motor_reverse[4], 1),

    // @Param: 6_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("6_DIRECTION", 6, AP_Motors6DOF, _motor_reverse[5], 1),

    // @Param: 7_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("7_DIRECTION", 7, AP_Motors6DOF, _motor_reverse[6], 1),

    // @Param: 8_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("8_DIRECTION", 8, AP_Motors6DOF, _motor_reverse[7], 1),

    // @Param: FV_CPLNG_K
    // @DisplayName: Forward/vertical to pitch decoupling factor
    // @Description: Used to decouple pitch from forward/vertical motion. 0 to disable, 1.2 normal
    // @Range: 0.0 1.5
    // @Increment: 0.1
    // @User: Standard
    AP_GROUPINFO("FV_CPLNG_K", 9, AP_Motors6DOF, _forwardVerticalCouplingFactor, 1.0),

    // @Param: 9_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("9_DIRECTION", 10, AP_Motors6DOF, _motor_reverse[8], 1),

    // @Param: 10_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("10_DIRECTION", 11, AP_Motors6DOF, _motor_reverse[9], 1),

    // @Param: 11_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("11_DIRECTION", 12, AP_Motors6DOF, _motor_reverse[10], 1),

    // @Param: 12_DIRECTION
    // @DisplayName: Motor normal or reverse
    // @Description: Used to change motor rotation directions without changing wires
    // @Values: 1:normal,-1:reverse
    // @User: Standard
    AP_GROUPINFO("12_DIRECTION", 13, AP_Motors6DOF, _motor_reverse[11], 1),

    AP_GROUPEND
};

void AP_Motors6DOF::setup_motors(motor_frame_class frame_class, motor_frame_type frame_type)
{
    // remove existing motors
    for (int8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        remove_motor(i);
    }

    // hard coded config for supported frames
    switch ((sub_frame_t)frame_class) {
        //                 Motor #              Roll Factor     Pitch Factor    Yaw Factor      Throttle Factor     Forward Factor      Lateral Factor  Testing Order
    case SUB_FRAME_BLUEROV1:
        add_motor_raw_6dof(AP_MOTORS_MOT_1,     0,              0,              -1.0f,          0,                  1.0f,               0,              1);
        add_motor_raw_6dof(AP_MOTORS_MOT_2,     0,              0,              1.0f,           0,                  1.0f,               0,              2);
        add_motor_raw_6dof(AP_MOTORS_MOT_3,     0.5f,           -0.5f,           0,             -1.0f,               0,                  0,              3);
        add_motor_raw_6dof(AP_MOTORS_MOT_4,     -0.5f,          -0.5f,           0,             -1.0f,               0,                  0,              4);
        add_motor_raw_6dof(AP_MOTORS_MOT_5,     0,              1.0f,          0,               -1.0f,               0,                  0,              5);
        add_motor_raw_6dof(AP_MOTORS_MOT_6,     -0.25f,         0,              0,              0,                  0,                  1.0f,           6);
        break;

    case SUB_FRAME_VECTORED_6DOF_90DEG:
        add_motor_raw_6dof(AP_MOTORS_MOT_1,     1.0f,           1.0f,           0,              1.0f,               0,                  0,              1);
        add_motor_raw_6dof(AP_MOTORS_MOT_2,     0,              0,              1.0f,           0,                  1.0f,               0,              2);
        add_motor_raw_6dof(AP_MOTORS_MOT_3,     1.0f,           -1.0f,          0,              1.0f,               0,                  0,              3);
        add_motor_raw_6dof(AP_MOTORS_MOT_4,     0,              0,              0,              0,                  0,                  1.0f,           4);
        add_motor_raw_6dof(AP_MOTORS_MOT_5,     0,              0,              0,              0,                  0,                  1.0f,           5);
        add_motor_raw_6dof(AP_MOTORS_MOT_6,     -1.0f,          1.0f,           0,              1.0f,               0,                  0,              6);
        add_motor_raw_6dof(AP_MOTORS_MOT_7,     0,              0,              -1.0f,          0,                  1.0f,               0,              7);
        add_motor_raw_6dof(AP_MOTORS_MOT_8,     -1.0f,          -1.0f,          0,              1.0f,               0,                  0,              8);
        break;

    case SUB_FRAME_VECTORED_6DOF:
        add_motor_raw_6dof(AP_MOTORS_MOT_1,     0,              0,              1.0f,           0,                  -1.0f,              1.0f,           1);
        add_motor_raw_6dof(AP_MOTORS_MOT_2,     0,              0,              -1.0f,          0,                  -1.0f,              -1.0f,          2);
        add_motor_raw_6dof(AP_MOTORS_MOT_3,     0,              0,              -1.0f,          0,                  1.0f,               1.0f,           3);
        add_motor_raw_6dof(AP_MOTORS_MOT_4,     0,              0,              1.0f,           0,                  1.0f,               -1.0f,          4);
        add_motor_raw_6dof(AP_MOTORS_MOT_5,     1.0f,           -1.0f,          0,              -1.0f,              0,                  0,              5);
        add_motor_raw_6dof(AP_MOTORS_MOT_6,     -1.0f,          -1.0f,          0,              -1.0f,              0,                  0,              6);
        add_motor_raw_6dof(AP_MOTORS_MOT_7,     1.0f,           1.0f,           0,              -1.0f,              0,                  0,              7);
        add_motor_raw_6dof(AP_MOTORS_MOT_8,     -1.0f,          1.0f,           0,              -1.0f,              0,                  0,              8);
        break;

    case SUB_FRAME_VECTORED:
        add_motor_raw_6dof(AP_MOTORS_MOT_1,     0,              0,              1.0f,           0,                  -1.0f,              1.0f,           1);
        add_motor_raw_6dof(AP_MOTORS_MOT_2,     0,              0,              -1.0f,          0,                  -1.0f,              -1.0f,          2);
        add_motor_raw_6dof(AP_MOTORS_MOT_3,     0,              0,              -1.0f,          0,                  1.0f,               1.0f,           3);
        add_motor_raw_6dof(AP_MOTORS_MOT_4,     0,              0,              1.0f,           0,                  1.0f,               -1.0f,          4);
        add_motor_raw_6dof(AP_MOTORS_MOT_5,     1.0f,           0,              0,              -1.0f,              0,                  0,              5);
        add_motor_raw_6dof(AP_MOTORS_MOT_6,     -1.0f,          0,              0,              -1.0f,              0,                  0,              6);
        break;

    case SUB_FRAME_CUSTOM:
        // Put your custom motor setup here
        //break;

    case SUB_FRAME_SIMPLEROV_3:
        add_motor_raw_6dof(AP_MOTORS_MOT_1,     0,              0,              -1.0f,          0,                  1.0f,               0,              1);
        add_motor_raw_6dof(AP_MOTORS_MOT_2,     0,              0,              1.0f,           0,                  1.0f,               0,              2);
        add_motor_raw_6dof(AP_MOTORS_MOT_3,     0,              0,              0,              -1.0f,              0,                  0,              3);
        break;
    case SUB_FRAME_SIMPLEROV_4:
    case SUB_FRAME_SIMPLEROV_5:
    default:
        add_motor_raw_6dof(AP_MOTORS_MOT_1,     0,              0,              -1.0f,          0,                  1.0f,               0,              1);
        add_motor_raw_6dof(AP_MOTORS_MOT_2,     0,              0,              1.0f,           0,                  1.0f,               0,              2);
        add_motor_raw_6dof(AP_MOTORS_MOT_3,     1.0f,           0,              0,              -1.0f,              0,                  0,              3);
        add_motor_raw_6dof(AP_MOTORS_MOT_4,     -1.0f,          0,              0,              -1.0f,              0,                  0,              4);
        add_motor_raw_6dof(AP_MOTORS_MOT_5,     0,              0,              0,              0,                  0,                  1.0f,           5);
        break;
    }
}

void AP_Motors6DOF::add_motor_raw_6dof(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, float throttle_fac, float forward_fac, float lat_fac, uint8_t testing_order)
{
    //Parent takes care of enabling output and setting up masks
    add_motor_raw(motor_num, roll_fac, pitch_fac, yaw_fac, testing_order);

    //These are additional parameters for an ROV
    _throttle_factor[motor_num] = throttle_fac;
    _forward_factor[motor_num] = forward_fac;
    _lateral_factor[motor_num] = lat_fac;
}

// output_min - sends minimum values out to the motors
void AP_Motors6DOF::output_min()
{
    int8_t i;

    // set limits flags
    limit.roll = true;
    limit.pitch = true;
    limit.yaw = true;
    limit.throttle_lower = false;
    limit.throttle_upper = false;

    // fill the motor_out[] array for HIL use and send minimum value to each motor
    // ToDo find a field to store the minimum pwm instead of hard coding 1500
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            rc_write(i, 1500);
        }
    }
}

#define ThrustScale 1000
#define hv_min 251
#define hv_max 1850
int16_t AP_Motors6DOF::calc_thrust_to_HV(float thrust_in,int8_t i)
{ 
	  int16_t thrust = 0;
	  //float ratio= 0.02;//阶跃百分比 
	 // int16_t step = 4;//4;//步长  0加到1024需要320毫秒
	 // int16_t step_thrust = 4;//4;//退出缓启动的条件 
	  int16_t stephv = 20;
	  thrust = (int16_t)(thrust_in* ThrustScale);
	  if(i<2)
	  {
	 	 last_thrust_Dhot[i] = thrust;
		 return constrain_int16(last_thrust_Dhot[i],-1000, 1000);
		  //输入比例与上次比例差 >ration
		 /* if (fabsf(thrust_in - last_thrust_in[i]) > ratio)
		 {//缓加缓减
			  if (thrust >= last_thrust_Dhot[i] + step)
		 	 {//新的Dshot >当前的Dshot + 步长
				 last_thrust_Dhot[i] += step;
		 	 }
		 	 else if(thrust <= last_thrust_Dhot[i] -step)
		 	 {//新的Dshot < 当前的Dshot -步长
		  		 last_thrust_Dhot[i] -= step;
		 	 }
			 if (thrust>=last_thrust_Dhot[i] - step_thrust && thrust<=last_thrust_Dhot[i] + step_thrust){
				last_thrust_in[i] = thrust_in;
				last_thrust_Dhot[i] = thrust;
			 	}
		  	if ((last_thrust_Dhot[i]< step  && last_thrust_Dhot[i]> -step) && thrust == 0)
			{
			  last_thrust_Dhot[i] =0;
			}
		 }
		  else{
		  	//比例之差<ration 直接赋值
		  	 last_thrust_Dhot[i] = thrust;
			 last_thrust_in[i] = thrust_in;
		  	}
		  	return constrain_int16(last_thrust_Dhot[i],-1000, 1000);*/
		  
	  }
	  else{
	  	
	  	if (thrust>=last_thrust_Dhot[i] - stephv && thrust<=last_thrust_Dhot[i] + stephv){
			
			last_thrust_Dhot[i] = thrust;
		 }else if (thrust >= last_thrust_Dhot[i] + stephv)
	 	 {//新的Dshot >当前的Dshot + 步长
			 last_thrust_Dhot[i] += stephv;
	 	 }
	 	 else if(thrust <= last_thrust_Dhot[i] -stephv)
	 	 {//新的Dshot < 当前的Dshot -步长
	  		 last_thrust_Dhot[i] -= stephv;
	 	 }

	  	if (last_thrust_Dhot[i]< stephv && last_thrust_Dhot[i]> -stephv)
		{
		  last_thrust_Dhot[i] =0;
		}
		
		
						static int k = 0;
		k++;
		if(k>400)
		{

		//gcs().send_text(MAV_SEVERITY_INFO, "_thrust_rpyt_out %d %d ,%d \n",(int)last_thrust_Dhot[2],(int)last_thrust_Dhot[3],(int)last_thrust_Dhot[4]);
		}
		int16_t speedref = (int16_t)((int32_t)last_thrust_Dhot[i]*hv_max/1000);
	  	return constrain_int16(speedref,-hv_max, hv_max);
	  }


}

int16_t AP_Motors6DOF::calc_thrust_to_Dshot(float thrust_in,int8_t i)
{ 
	  int16_t thrust = 0;
	  float ratio= 0.02;//阶跃百分比 
	  int16_t step = 8;//4;//步长  0加到1024需要320毫秒
	  int16_t step_thrust = 8;//4;//退出缓启动的条件 
	  thrust = (int16_t)(thrust_in* ThrustScale);
	  //输入比例与上次比例差 >ration
	  if (fabsf(thrust_in - last_thrust_in[i]) > ratio)
	 {//缓加缓减
		  if (thrust >= last_thrust_Dhot[i] + step)
	 	 {//新的Dshot >当前的Dshot + 步长
			 last_thrust_Dhot[i] += step;
	 	 }
	 	 else if(thrust <= last_thrust_Dhot[i] -step)
	 	 {//新的Dshot < 当前的Dshot -步长
	  		 last_thrust_Dhot[i] -= step;
	 	 }
		 if (thrust>=last_thrust_Dhot[i] - step_thrust && thrust<=last_thrust_Dhot[i] + step_thrust){
			last_thrust_in[i] = thrust_in;
			last_thrust_Dhot[i] = thrust;
		 	}
	  	if ((last_thrust_Dhot[i]< step  && last_thrust_Dhot[i]> -step) && thrust == 0)
		{
		  last_thrust_Dhot[i] =0;
		}
	 }
	  else{
	  	//比例之差<ration 直接赋值
	  	 last_thrust_Dhot[i] = thrust;
		 last_thrust_in[i] = thrust_in;
	  	}
	  if (i<2)
		  {
		  return constrain_int16(last_thrust_Dhot[i],-1000, 1000);
		}
	  else{
	  	return constrain_int16(last_thrust_Dhot[i],-910, 910);//ThrustScale    -770, 810
	  }

}


extern mavlink_motor_speed_t mav_motor_speed;

void AP_Motors6DOF::output_to_Dshot()
{
	int8_t i;
    int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];    // final pwm values sent to the motor

    switch (_spool_state) {
    case SpoolState::SHUT_DOWN:
        // sends minimum values out to the motors
        // set motor output based on thrust requests
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                motor_out[i] = 0;
            }
        }
        break;
    case SpoolState::GROUND_IDLE:
        // sends output to motors when armed but not flying
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                motor_out[i] = 0;
            }
        }
        break;
    case SpoolState::SPOOLING_UP:
    case SpoolState::THROTTLE_UNLIMITED:
    case SpoolState::SPOOLING_DOWN:
    	{
   			 for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
       			 if (motor_enabled[i]) {
				  //将油门比例转换成Dshot协议形式，增加了缓启动
            		//motor_out[i] =  calc_thrust_to_Dshot(_thrust_rpyt_out[i],i);
            		
            		motor_out[i] =  calc_thrust_to_HV(_thrust_rpyt_out[i],i);
       			}
   			 }
        break;}
    }
	
		//const AP_UAVCAN &uavcan = AP::uavcan();//6自由度电机计算出来的PWM

		//将上位机转发过来的，转换成Dshot协议并使用CAN 转发
		if(mav_motor_speed.motorTest == 1)
		{//测试模式上位机直接控制 仅仅控制6个推进器
			 motor_to_can[0] = mav_motor_speed.motor1*1000;
			 motor_to_can[1] = mav_motor_speed.motor2*1000;
			 motor_to_can[2] = mav_motor_speed.motor3;
			 motor_to_can[3] = mav_motor_speed.motor4;
			 motor_to_can[4] = mav_motor_speed.motor5;
			 motor_to_can[5] = mav_motor_speed.motor6;
			 motor_to_can[6] = mav_motor_speed.motor7;
			 motor_to_can[7] = mav_motor_speed.motor8;


			

			 
		}
		else
		{
			motor_to_can[0] =  motor_out[0];//赋值给can
			motor_to_can[1] =  motor_out[1];//赋值给can
			motor_to_can[2] =  motor_out[2];//赋值给can
			motor_to_can[3] =  motor_out[3];//赋值给can
			motor_to_can[4] =  motor_out[4];//赋值给can
			motor_to_can[5] =  motor_out[5];//赋值给can
			motor_to_can[6] =  motor_out[6];//赋值给can
			motor_to_can[7] =  motor_out[7];//赋值给can


		}

}

int16_t AP_Motors6DOF::calc_thrust_to_pwm(float thrust_in) const
{
    return constrain_int16(1500 + thrust_in * 400, _throttle_radio_min, _throttle_radio_max);
}

void AP_Motors6DOF::output_to_motors()
{
    int8_t i;
    int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS];    // final pwm values sent to the motor

    switch (_spool_state) {
    case SpoolState::SHUT_DOWN:
        // sends minimum values out to the motors
        // set motor output based on thrust requests
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                motor_out[i] = 1500;
            }
        }
        break;
    case SpoolState::GROUND_IDLE:
        // sends output to motors when armed but not flying
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                motor_out[i] = 1500;
            }
        }
        break;
    case SpoolState::SPOOLING_UP:
    case SpoolState::THROTTLE_UNLIMITED:
    case SpoolState::SPOOLING_DOWN:
        // set motor output based on thrust requests
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                motor_out[i] = calc_thrust_to_pwm(_thrust_rpyt_out[i]);
            }
        }
        break;
    }

    // send output to each motor
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            rc_write(i, motor_out[i]);
        }
    }
}

float AP_Motors6DOF::get_current_limit_max_throttle()
{
    return 1.0f;
}

// output_armed - sends commands to the motors
// includes new scaling stability patch
// TODO pull code that is common to output_armed_not_stabilizing into helper functions
// ToDo calculate headroom for rpy to be added for stabilization during full throttle/forward/lateral commands
void AP_Motors6DOF::output_armed_stabilizing()
{
    if ((sub_frame_t)_last_frame_class == SUB_FRAME_VECTORED) {
        output_armed_stabilizing_vectored();
    } else if ((sub_frame_t)_last_frame_class == SUB_FRAME_VECTORED_6DOF) {
        output_armed_stabilizing_vectored_6dof();
    } else if ((sub_frame_t)_last_frame_class == SUB_FRAME_BLUEROV1){
        uint8_t i;                          // general purpose counter
        float   roll_thrust;                // roll thrust input value, +/- 1.0
        float   pitch_thrust;               // pitch thrust input value, +/- 1.0
        float   yaw_thrust;                 // yaw thrust input value, +/- 1.0
        float   throttle_thrust;            // throttle thrust input value, +/- 1.0
        float   forward_thrust;             // forward thrust input value, +/- 1.0
        float   lateral_thrust;             // lateral thrust input value, +/- 1.0

        roll_thrust = (_roll_in + _roll_in_ff);
        pitch_thrust = (_pitch_in + _pitch_in_ff);
        yaw_thrust = (_yaw_in + _yaw_in_ff);
        throttle_thrust = get_throttle_bidirectional();
        forward_thrust = _forward_in;
        lateral_thrust = _lateral_in;

        float rpy_out[AP_MOTORS_MAX_NUM_MOTORS]; // buffer so we don't have to multiply coefficients multiple times.
        float linear_out[AP_MOTORS_MAX_NUM_MOTORS]; // 3 linear DOF mix for each motor

        // initialize limits flags
        limit.roll = false;
        limit.pitch = false;
        limit.yaw = false;
        limit.throttle_lower = false;
        limit.throttle_upper = false;


        // sanity check throttle is above zero and below current limited throttle
        if (throttle_thrust <= -_throttle_thrust_max) {
            throttle_thrust = -_throttle_thrust_max;
            limit.throttle_lower = true;
        }
        if (throttle_thrust >= _throttle_thrust_max) {
            throttle_thrust = _throttle_thrust_max;
            limit.throttle_upper = true;
        }

        // calculate roll, pitch and yaw for each motor
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                rpy_out[i] = roll_thrust * _roll_factor[i] +
                             pitch_thrust * _pitch_factor[i] +
                             yaw_thrust * _yaw_factor[i];

            }
        }

        // calculate linear command for each motor
        // linear factors should be 0.0 or 1.0 for now
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                linear_out[i] = throttle_thrust * _throttle_factor[i] +
                                forward_thrust * _forward_factor[i] +
                                lateral_thrust * _lateral_factor[i];
            }
        }


        // Calculate final output for each motor
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                _thrust_rpyt_out[i] = constrain_float(_motor_reverse[i]*(rpy_out[i] + linear_out[i]),-1.0f,1.0f);
            }
        }


    }
	else{
	    uint8_t i;                          // general purpose counter
        float   roll_thrust;                // roll thrust input value, +/- 1.0
        float   pitch_thrust;               // pitch thrust input value, +/- 1.0
        float   yaw_thrust;                 // yaw thrust input value, +/- 1.0
        float   throttle_thrust;            // throttle thrust input value, +/- 1.0
        float   forward_thrust;             // forward thrust input value, +/- 1.0
        float   lateral_thrust;             // lateral thrust input value, +/- 1.0

        roll_thrust = (_roll_in + _roll_in_ff);
        pitch_thrust = (_pitch_in + _pitch_in_ff);
        yaw_thrust = (_yaw_in + _yaw_in_ff);
        throttle_thrust = get_throttle_bidirectional();
        forward_thrust = _forward_in;
        lateral_thrust = _lateral_in;

        float rpy_out[AP_MOTORS_MAX_NUM_MOTORS]; // buffer so we don't have to multiply coefficients multiple times.
        float linear_out[AP_MOTORS_MAX_NUM_MOTORS]; // 3 linear DOF mix for each motor

        // initialize limits flags
        limit.roll = false;
        limit.pitch = false;
        limit.yaw = false;
        limit.throttle_lower = false;
        limit.throttle_upper = false;


        // sanity check throttle is above zero and below current limited throttle
        if (throttle_thrust <= -_throttle_thrust_max) {
            throttle_thrust = -_throttle_thrust_max;
            limit.throttle_lower = true;
        }
        if (throttle_thrust >= _throttle_thrust_max) {
            throttle_thrust = _throttle_thrust_max;
            limit.throttle_upper = true;
        }

        // calculate roll, pitch and yaw for each motor
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                rpy_out[i] = roll_thrust * _roll_factor[i] +
                             pitch_thrust * _pitch_factor[i] +
                             yaw_thrust * _yaw_factor[i];

            }
        }

        // calculate linear command for each motor
        // linear factors should be 0.0 or 1.0 for now
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                linear_out[i] = throttle_thrust * _throttle_factor[i] +
                                forward_thrust * _forward_factor[i] +
                                lateral_thrust * _lateral_factor[i];
            }
        }
		for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                linear_out[i] = throttle_thrust * _throttle_factor[i] +
                                forward_thrust * _forward_factor[i] +
                                lateral_thrust * _lateral_factor[i];
            }
        }
		

        // Calculate final output for each motor
        for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
            if (motor_enabled[i]) {
                _thrust_rpyt_out[i] = constrain_float(_motor_reverse[i]*(rpy_out[i] + linear_out[i]),-1.0f,1.0f);
            }
        }	
	}

    const AP_BattMonitor &battery = AP::battery();

	// Current limiting
    float _batt_current;
    if (_batt_current_max <= 0.0f || !battery.current_amps(_batt_current)) {
        return;
    }

    float _batt_current_delta = _batt_current - _batt_current_last;

    float loop_interval = 1.0f/_loop_rate;

    float _current_change_rate = _batt_current_delta / loop_interval;

    float predicted_current = _batt_current + (_current_change_rate * loop_interval * 5);

    float batt_current_ratio = _batt_current/_batt_current_max;

    float predicted_current_ratio = predicted_current/_batt_current_max;
    _batt_current_last = _batt_current;

    if (predicted_current > _batt_current_max * 1.5f) {
        batt_current_ratio = 2.5f;
    } else if (_batt_current < _batt_current_max && predicted_current > _batt_current_max) {
        batt_current_ratio = predicted_current_ratio;
    }
    _output_limited += (loop_interval/(loop_interval+_batt_current_time_constant)) * (1 - batt_current_ratio);

    _output_limited = constrain_float(_output_limited, 0.0f, 1.0f);

    for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            _thrust_rpyt_out[i] *= _output_limited;
        }
    }
}

// output_armed - sends commands to the motors
// includes new scaling stability patch
// TODO pull code that is common to output_armed_not_stabilizing into helper functions
// ToDo calculate headroom for rpy to be added for stabilization during full throttle/forward/lateral commands
void AP_Motors6DOF::output_armed_stabilizing_vectored()
{
    uint8_t i;                          // general purpose counter
    float   roll_thrust;                // roll thrust input value, +/- 1.0
    float   pitch_thrust;               // pitch thrust input value, +/- 1.0
    float   yaw_thrust;                 // yaw thrust input value, +/- 1.0
    float   throttle_thrust;            // throttle thrust input value, +/- 1.0
    float   forward_thrust;             // forward thrust input value, +/- 1.0
    float   lateral_thrust;             // lateral thrust input value, +/- 1.0

    roll_thrust = (_roll_in + _roll_in_ff);
    pitch_thrust = (_pitch_in + _pitch_in_ff);
    yaw_thrust = (_yaw_in + _yaw_in_ff);
    throttle_thrust = get_throttle_bidirectional();
    forward_thrust = _forward_in;
    lateral_thrust = _lateral_in;

    float rpy_out[AP_MOTORS_MAX_NUM_MOTORS]; // buffer so we don't have to multiply coefficients multiple times.
    float linear_out[AP_MOTORS_MAX_NUM_MOTORS]; // 3 linear DOF mix for each motor

    // initialize limits flags
    limit.roll= false;
    limit.pitch = false;
    limit.yaw = false;
    limit.throttle_lower = false;
    limit.throttle_upper = false;

    // sanity check throttle is above zero and below current limited throttle
    if (throttle_thrust <= -_throttle_thrust_max) {
        throttle_thrust = -_throttle_thrust_max;
        limit.throttle_lower = true;
    }

    if (throttle_thrust >= _throttle_thrust_max) {
        throttle_thrust = _throttle_thrust_max;
        limit.throttle_upper = true;
    }

    // calculate roll, pitch and yaw for each motor
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            rpy_out[i] = roll_thrust * _roll_factor[i] +
                         pitch_thrust * _pitch_factor[i] +
                         yaw_thrust * _yaw_factor[i];
        }
    }

    float forward_coupling_limit = 1-_forwardVerticalCouplingFactor*float(fabsf(throttle_thrust));
    if (forward_coupling_limit < 0) {
        forward_coupling_limit = 0;
    }
    int8_t forward_coupling_direction[] = {-1,-1,1,1,0,0,0,0,0,0,0,0};

    // calculate linear command for each motor
    // linear factors should be 0.0 or 1.0 for now
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {

            float forward_thrust_limited = forward_thrust;

            // The following statements decouple forward/vertical hydrodynamic coupling on
            // vectored ROVs. This is done by limiting the maximum output of the "rear" vectored
            // thruster (where "rear" depends on direction of travel).
            if (!is_zero(forward_thrust_limited)) {
                if ((forward_thrust < 0) == (forward_coupling_direction[i] < 0) && forward_coupling_direction[i] != 0) {
                    forward_thrust_limited = constrain_float(forward_thrust, -forward_coupling_limit, forward_coupling_limit);
                }
            }

            linear_out[i] = throttle_thrust * _throttle_factor[i] +
                            forward_thrust_limited * _forward_factor[i] +
                            lateral_thrust * _lateral_factor[i];
        }
    }

    // Calculate final output for each motor
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            _thrust_rpyt_out[i] = constrain_float(_motor_reverse[i]*(rpy_out[i] + linear_out[i]), -1.0f, 1.0f);
        }
    }
}

// Band Aid fix for motor normalization issues.
// TODO: find a global solution for managing saturation that works for all vehicles
void AP_Motors6DOF::output_armed_stabilizing_vectored_6dof()
{
    uint8_t i;                          // general purpose counter
    float   roll_thrust;                // roll thrust input value, +/- 1.0
    float   pitch_thrust;               // pitch thrust input value, +/- 1.0
    float   yaw_thrust;                 // yaw thrust input value, +/- 1.0
    float   throttle_thrust;            // throttle thrust input value, +/- 1.0
    float   forward_thrust;             // forward thrust input value, +/- 1.0
    float   lateral_thrust;             // lateral thrust input value, +/- 1.0

    roll_thrust = (_roll_in + _roll_in_ff);
    pitch_thrust = (_pitch_in + _pitch_in_ff);
    yaw_thrust = (_yaw_in + _yaw_in_ff);
    throttle_thrust = get_throttle_bidirectional();
    forward_thrust = _forward_in;
    lateral_thrust = _lateral_in;

    float rpt_out[AP_MOTORS_MAX_NUM_MOTORS]; // buffer so we don't have to multiply coefficients multiple times.
    float yfl_out[AP_MOTORS_MAX_NUM_MOTORS]; // 3 linear DOF mix for each motor
    float rpt_max;
    float yfl_max;

    // initialize limits flags
    limit.roll = false;
    limit.pitch = false;
    limit.yaw = false;
    limit.throttle_lower = false;
    limit.throttle_upper = false;

    // sanity check throttle is above zero and below current limited throttle
    if (throttle_thrust <= -_throttle_thrust_max) {
        throttle_thrust = -_throttle_thrust_max;
        limit.throttle_lower = true;
    }

    if (throttle_thrust >= _throttle_thrust_max) {
        throttle_thrust = _throttle_thrust_max;
        limit.throttle_upper = true;
    }

    // calculate roll, pitch and Throttle for each motor (only used by vertical thrusters)
    rpt_max = 1; //Initialized to 1 so that normalization will only occur if value is saturated
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            rpt_out[i] = roll_thrust * _roll_factor[i] +
                         pitch_thrust * _pitch_factor[i] +
                         throttle_thrust * _throttle_factor[i];
            if (fabsf(rpt_out[i]) > rpt_max) {
                rpt_max = fabsf(rpt_out[i]);
            }
        }
    }

    // calculate linear/yaw command for each motor (only used for translational thrusters)
    // linear factors should be 0.0 or 1.0 for now
    yfl_max = 1; //Initialized to 1 so that normalization will only occur if value is saturated
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            yfl_out[i] = yaw_thrust * _yaw_factor[i] +
                         forward_thrust * _forward_factor[i] +
                         lateral_thrust * _lateral_factor[i];
            if (fabsf(yfl_out[i]) > yfl_max) {
                yfl_max = fabsf(yfl_out[i]);
            }
        }
    }

    // Calculate final output for each motor and normalize if necessary
    for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
        if (motor_enabled[i]) {
            _thrust_rpyt_out[i] = constrain_float(_motor_reverse[i]*(rpt_out[i]/rpt_max + yfl_out[i]/yfl_max),-1.0f,1.0f);
        }
    }
}

Vector3f AP_Motors6DOF::get_motor_angular_factors(int motor_number) {
     if (motor_number < 0 || motor_number >= AP_MOTORS_MAX_NUM_MOTORS) {
        return Vector3f(0,0,0);
    }
    return Vector3f(_roll_factor[motor_number], _pitch_factor[motor_number], _yaw_factor[motor_number]);
}

bool AP_Motors6DOF::motor_is_enabled(int motor_number) {
    if (motor_number < 0 || motor_number >= AP_MOTORS_MAX_NUM_MOTORS) {
        return false;
    }
    return motor_enabled[motor_number];
}

bool AP_Motors6DOF::set_reversed(int motor_number, bool reversed) {
    if (motor_number < 0 || motor_number >= AP_MOTORS_MAX_NUM_MOTORS) {
        return false;
    }
    if (reversed) {
        _motor_reverse[motor_number].set_and_save(-1);
    } else {
        _motor_reverse[motor_number].set_and_save(1);
    }
    return true;
}
//--------------wangdan--------
AP_Motors6DOF *AP_Motors6DOF::_singleton;

namespace AP {

AP_Motors6DOF &motors6dof()
{
    return *AP_Motors6DOF::get_singleton();
}

};