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- #pragma once
- #include <AP_Common/AP_Common.h>
- #include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
- #include <AP_Notify/AP_Notify.h> // Notify library
- #include <SRV_Channel/SRV_Channel.h>
- #include <Filter/Filter.h> // filter library
- // offsets for motors in motor_out and _motor_filtered arrays
- #define AP_MOTORS_MOT_1 0U
- #define AP_MOTORS_MOT_2 1U
- #define AP_MOTORS_MOT_3 2U
- #define AP_MOTORS_MOT_4 3U
- #define AP_MOTORS_MOT_5 4U
- #define AP_MOTORS_MOT_6 5U
- #define AP_MOTORS_MOT_7 6U
- #define AP_MOTORS_MOT_8 7U
- #define AP_MOTORS_MOT_9 8U
- #define AP_MOTORS_MOT_10 9U
- #define AP_MOTORS_MOT_11 10U
- #define AP_MOTORS_MOT_12 11U
- #define AP_MOTORS_MAX_NUM_MOTORS 12
- // motor update rate
- #define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors
- /// @class AP_Motors
- class AP_Motors {
- public:
- enum motor_frame_class {
- MOTOR_FRAME_UNDEFINED = 0,
- MOTOR_FRAME_QUAD = 1,
- MOTOR_FRAME_HEXA = 2,
- MOTOR_FRAME_OCTA = 3,
- MOTOR_FRAME_OCTAQUAD = 4,
- MOTOR_FRAME_Y6 = 5,
- MOTOR_FRAME_HELI = 6,
- MOTOR_FRAME_TRI = 7,
- MOTOR_FRAME_SINGLE = 8,
- MOTOR_FRAME_COAX = 9,
- MOTOR_FRAME_TAILSITTER = 10,
- MOTOR_FRAME_HELI_DUAL = 11,
- MOTOR_FRAME_DODECAHEXA = 12,
- MOTOR_FRAME_HELI_QUAD = 13,
- };
- enum motor_frame_type {
- MOTOR_FRAME_TYPE_PLUS = 0,
- MOTOR_FRAME_TYPE_X = 1,
- MOTOR_FRAME_TYPE_V = 2,
- MOTOR_FRAME_TYPE_H = 3,
- MOTOR_FRAME_TYPE_VTAIL = 4,
- MOTOR_FRAME_TYPE_ATAIL = 5,
- MOTOR_FRAME_TYPE_PLUSREV = 6, // plus with reversed motor direction
- MOTOR_FRAME_TYPE_Y6B = 10,
- MOTOR_FRAME_TYPE_Y6F = 11, // for FireFlyY6
- MOTOR_FRAME_TYPE_BF_X = 12, // X frame, betaflight ordering
- MOTOR_FRAME_TYPE_DJI_X = 13, // X frame, DJI ordering
- MOTOR_FRAME_TYPE_CW_X = 14, // X frame, clockwise ordering
- MOTOR_FRAME_TYPE_I = 15, // (sideways H) octo only
- };
- // Constructor
- AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
- // singleton support
- static AP_Motors *get_singleton(void) { return _singleton; }
- // check initialisation succeeded
- bool initialised_ok() const { return _flags.initialised_ok; }
- // arm, disarm or check status status of motors
- bool armed() const { return _flags.armed; }
- void armed(bool arm);
- // set motor interlock status
- void set_interlock(bool set) { _flags.interlock = set;}
- // get motor interlock status. true means motors run, false motors don't run
- bool get_interlock() const { return _flags.interlock; }
- // set_roll, set_pitch, set_yaw, set_throttle
- void set_roll(float roll_in) { _roll_in = roll_in; }; // range -1 ~ +1
- void set_roll_ff(float roll_in) { _roll_in_ff = roll_in; }; // range -1 ~ +1
- void set_pitch(float pitch_in) { _pitch_in = pitch_in; }; // range -1 ~ +1
- void set_pitch_ff(float pitch_in) { _pitch_in_ff = pitch_in; }; // range -1 ~ +1
- void set_yaw(float yaw_in) { _yaw_in = yaw_in; }; // range -1 ~ +1
- void set_yaw_ff(float yaw_in) { _yaw_in_ff = yaw_in; }; // range -1 ~ +1
- void set_throttle(float throttle_in) { _throttle_in = throttle_in; }; // range 0 ~ 1
- void set_throttle_avg_max(float throttle_avg_max) { _throttle_avg_max = constrain_float(throttle_avg_max, 0.0f, 1.0f); }; // range 0 ~ 1
- void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
- void set_forward(float forward_in) { _forward_in = forward_in; }; // range -1 ~ +1
- void set_lateral(float lateral_in) { _lateral_in = lateral_in; }; // range -1 ~ +1
- // accessors for roll, pitch, yaw and throttle inputs to motors
- float get_roll() const { return _roll_in; }
- float get_pitch() const { return _pitch_in; }
- float get_yaw() const { return _yaw_in; }
- float get_throttle() const { return constrain_float(_throttle_filter.get(), 0.0f, 1.0f); }
- float get_throttle_bidirectional() const { return constrain_float(2 * (_throttle_filter.get() - 0.5f), -1.0f, 1.0f); }
- float get_forward() const { return _forward_in; }
- float get_lateral() const { return _lateral_in; }
- virtual float get_throttle_hover() const = 0;
- // motor failure handling
- void set_thrust_boost(bool enable) { _thrust_boost = enable; }
- bool get_thrust_boost() const { return _thrust_boost; }
- virtual uint8_t get_lost_motor() const { return 0; }
- // desired spool states
- enum class DesiredSpoolState : uint8_t {
- SHUT_DOWN = 0, // all motors should move to stop
- GROUND_IDLE = 1, // all motors should move to ground idle
- THROTTLE_UNLIMITED = 2, // motors should move to being a state where throttle is unconstrained (e.g. by start up procedure)
- };
- void set_desired_spool_state(enum DesiredSpoolState spool);
- enum DesiredSpoolState get_desired_spool_state(void) const { return _spool_desired; }
- // spool states
- enum class SpoolState : uint8_t {
- SHUT_DOWN = 0, // all motors stop
- GROUND_IDLE = 1, // all motors at ground idle
- SPOOLING_UP = 2, // increasing maximum throttle while stabilizing
- THROTTLE_UNLIMITED = 3, // throttle is no longer constrained by start up procedure
- SPOOLING_DOWN = 4, // decreasing maximum throttle while stabilizing
- };
- // get_spool_state - get current spool state
- enum SpoolState get_spool_state(void) const { return _spool_state; }
- // set_density_ratio - sets air density as a proportion of sea level density
- void set_air_density_ratio(float ratio) { _air_density_ratio = ratio; }
- // structure for holding motor limit flags
- struct AP_Motors_limit {
- uint8_t roll : 1; // we have reached roll or pitch limit
- uint8_t pitch : 1; // we have reached roll or pitch limit
- uint8_t yaw : 1; // we have reached yaw limit
- uint8_t throttle_lower : 1; // we have reached throttle's lower limit
- uint8_t throttle_upper : 1; // we have reached throttle's upper limit
- } limit;
- //
- // virtual functions that should be implemented by child classes
- //
- // set update rate to motors - a value in hertz
- virtual void set_update_rate( uint16_t speed_hz ) { _speed_hz = speed_hz; }
- // init
- virtual void init(motor_frame_class frame_class, motor_frame_type frame_type) = 0;
- // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
- virtual void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) = 0;
- // output - sends commands to the motors
- virtual void output() = 0;
- // output_min - sends minimum values out to the motors
- virtual void output_min() = 0;
- // output_test_seq - spin a motor at the pwm value specified
- // motor_seq is the motor's sequence number from 1 to the number of motors on the frame
- // pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
- virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) = 0;
- // get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
- // this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
- virtual uint16_t get_motor_mask() = 0;
- // pilot input in the -1 ~ +1 range for roll, pitch and yaw. 0~1 range for throttle
- void set_radio_passthrough(float roll_input, float pitch_input, float throttle_input, float yaw_input);
- // set loop rate. Used to support loop rate as a parameter
- void set_loop_rate(uint16_t loop_rate) { _loop_rate = loop_rate; }
- // return the roll factor of any motor, this is used for tilt rotors and tail sitters
- // using copter motors for forward flight
- virtual float get_roll_factor(uint8_t i) { return 0.0f; }
- enum pwm_type { PWM_TYPE_NORMAL = 0,
- PWM_TYPE_ONESHOT = 1,
- PWM_TYPE_ONESHOT125 = 2,
- PWM_TYPE_BRUSHED = 3,
- PWM_TYPE_DSHOT150 = 4,
- PWM_TYPE_DSHOT300 = 5,
- PWM_TYPE_DSHOT600 = 6,
- PWM_TYPE_DSHOT1200 = 7};
- pwm_type get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); }
-
- protected:
- // output functions that should be overloaded by child classes
- virtual void output_armed_stabilizing() = 0;
- virtual void rc_write(uint8_t chan, uint16_t pwm);
- virtual void rc_write_angle(uint8_t chan, int16_t angle_cd);
- virtual void rc_set_freq(uint32_t mask, uint16_t freq_hz);
- virtual uint32_t rc_map_mask(uint32_t mask) const;
- // add a motor to the motor map
- void add_motor_num(int8_t motor_num);
-
- // update the throttle input filter
- virtual void update_throttle_filter() = 0;
- // save parameters as part of disarming
- virtual void save_params_on_disarm() {}
- // flag bitmask
- struct AP_Motors_flags {
- uint8_t armed : 1; // 0 if disarmed, 1 if armed
- uint8_t interlock : 1; // 1 if the motor interlock is enabled (i.e. motors run), 0 if disabled (motors don't run)
- uint8_t initialised_ok : 1; // 1 if initialisation was successful
- } _flags;
- // internal variables
- uint16_t _loop_rate; // rate in Hz at which output() function is called (normally 400hz)
- uint16_t _speed_hz; // speed in hz to send updates to motors
- float _roll_in; // desired roll control from attitude controllers, -1 ~ +1
- float _roll_in_ff; // desired roll feed forward control from attitude controllers, -1 ~ +1
- float _pitch_in; // desired pitch control from attitude controller, -1 ~ +1
- float _pitch_in_ff; // desired pitch feed forward control from attitude controller, -1 ~ +1
- float _yaw_in; // desired yaw control from attitude controller, -1 ~ +1
- float _yaw_in_ff; // desired yaw feed forward control from attitude controller, -1 ~ +1
- float _throttle_in; // last throttle input from set_throttle caller
- float _forward_in; // last forward input from set_forward caller
- float _lateral_in; // last lateral input from set_lateral caller
- float _throttle_avg_max; // last throttle input from set_throttle_avg_max
- LowPassFilterFloat _throttle_filter; // throttle input filter
- DesiredSpoolState _spool_desired; // desired spool state
- SpoolState _spool_state; // current spool mode
- // air pressure compensation variables
- float _air_density_ratio; // air density / sea level density - decreases in altitude
- // mask of what channels need fast output
- uint16_t _motor_fast_mask;
- // pass through variables
- float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
- float _pitch_radio_passthrough; // pitch input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
- float _throttle_radio_passthrough; // throttle/collective input from pilot in 0 ~ 1 range. used for setup and providing servo feedback while landed
- float _yaw_radio_passthrough; // yaw input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
- AP_Int8 _pwm_type; // PWM output type
- // motor failure handling
- bool _thrust_boost; // true if thrust boost is enabled to handle motor failure
- bool _thrust_balanced; // true when output thrust is well balanced
- float _thrust_boost_ratio; // choice between highest and second highest motor output for output mixing (0 ~ 1). Zero is normal operation
- private:
- static AP_Motors *_singleton;
- };
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