// move_yaw
void AP_MotorsHeli_Single::move_yaw(float yaw_out)
{
// sanity check yaw_out
if (yaw_out < -1.0f) {
yaw_out = -1.0f;
limit.yaw = true;
}
if (yaw_out > 1.0f) {
yaw_out = 1.0f;
limit.yaw = true;
}
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro/1000.0f);
} else {
write_aux(_ext_gyro_gain_std/1000.0f);
}
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0.0f) {
// output yaw servo to tail rsc
// To-Do: fix this messy calculation
write_aux(yaw_out*0.5f+1.0f);
}
}
// move_yaw
void AP_MotorsHeli_Single::move_yaw(float yaw_out)
{
// sanity check yaw_out
if (yaw_out < -1.0f) {
yaw_out = -1.0f;
limit.yaw = true;
}
if (yaw_out > 1.0f) {
yaw_out = 1.0f;
limit.yaw = true;
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
if (_main_rotor.get_desired_speed() > 0.0f && hal.util->get_soft_armed()) {
// constrain output so that motor never fully stops
yaw_out = constrain_float(yaw_out, -0.9f, 1.0f);
// output yaw servo to tail rsc
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
} else {
// output zero speed to tail rsc
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-1.0f, _yaw_servo));
}
} else {
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(yaw_out, _yaw_servo));
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro/1000.0f);
} else {
write_aux(_ext_gyro_gain_std/1000.0f);
}
}
}
// tail_ramp - ramps tail motor towards target. Only used for direct drive variable pitch tails
// results put into _tail_direct_drive_out and sent to ESC
void AP_MotorsHeli::tail_ramp(int16_t tail_target)
{
// return immediately if not ramping required
if (_tail_type != AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_direct_drive_out = tail_target;
return;
}
// range check tail_target
tail_target = constrain_int16(tail_target,0,1000);
// ramp towards target
if (_tail_direct_drive_out < tail_target) {
_tail_direct_drive_out += AP_MOTORS_HELI_TAIL_RAMP_INCREMENT;
if (_tail_direct_drive_out >= tail_target) {
_tail_direct_drive_out = tail_target;
}
}else if(_tail_direct_drive_out > tail_target) {
_tail_direct_drive_out -= AP_MOTORS_HELI_TAIL_RAMP_INCREMENT;
if (_tail_direct_drive_out < tail_target) {
_tail_direct_drive_out = tail_target;
}
}
// output to tail servo
write_aux(_tail_direct_drive_out);
}
// rsc_control - update value to send to tail and main rotor's ESC
// desired_rotor_speed is a desired speed from 0 to 1000
void AP_MotorsHeli::rsc_control()
{
// if disarmed output minimums
if (!armed()) {
// shut down tail rotor
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_VARPITCH || _tail_type == AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH) {
_tail_direct_drive_out = 0;
write_aux(_tail_direct_drive_out);
}
// shut down main rotor
if (_rsc_mode != AP_MOTORS_HELI_RSC_MODE_NONE) {
_rotor_out = 0;
_rotor_speed_estimate = 0;
write_rsc(_rotor_out);
}
return;
}
// ramp up or down main rotor and tail
if (_rotor_desired > 0) {
// ramp up tail rotor (this does nothing if not using direct drive variable pitch tail)
tail_ramp(_direct_drive_tailspeed);
// note: this always returns true if not using direct drive variable pitch tail
if (tail_rotor_runup_complete()) {
rotor_ramp(_rotor_desired);
}
}else{
// shutting down main rotor
rotor_ramp(0);
// if completed shutting down main motor then shut-down tail rotor. Note: this does nothing if not using direct drive vairable pitch tail
if (_rotor_speed_estimate <= 0) {
tail_ramp(0);
}
}
// direct drive fixed pitch tail servo gets copy of yaw servo out (ch4) while main rotor is running
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_DIRECTDRIVE_FIXEDPITCH) {
// output fixed-pitch speed control if Ch8 is high
if (_rotor_desired > 0 || _rotor_speed_estimate > 0) {
// copy yaw output to tail esc
write_aux(_servo_4->servo_out);
}else{
write_aux(0);
}
}
}
/*
* paux device driver WRITE entry point.
* Write characters to the PS/2 mouse.
*/
rtems_device_driver paux_write(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg)
{
rtems_libio_rw_args_t *rw_args = (rtems_libio_rw_args_t *)arg;
char *buffer = rw_args->buffer;
int maximum = rw_args->count;
rw_args->bytes_moved = write_aux( minor, buffer, maximum );
return RTEMS_SUCCESSFUL;
} /* tty_write */
// output_test - wiggle servos in order to show connections are correct
void AP_MotorsHeli::output_test()
{
int16_t i;
// Send minimum values to all motors
output_min();
// servo 1
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_trim + 0);
hal.scheduler->delay(300);
}
// servo 2
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_trim + 0);
hal.scheduler->delay(300);
}
// servo 3
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_trim + 0);
hal.scheduler->delay(300);
}
// external gyro
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
write_aux(_ext_gyro_gain);
}
// servo 4
for( i=0; i<5; i++ ) {
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim + 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim - 100);
hal.scheduler->delay(300);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_trim + 0);
hal.scheduler->delay(300);
}
// Send minimum values to all motors
output_min();
}
// move_yaw
void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
{
_yaw_servo.servo_out = constrain_int16(yaw_out, -4500, 4500);
if (_yaw_servo.servo_out != yaw_out) {
limit.yaw = true;
}
_yaw_servo.calc_pwm();
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _yaw_servo.radio_out);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
write_aux(_ext_gyro_gain);
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
// output yaw servo to tail rsc
write_aux(_yaw_servo.servo_out);
}
}
// output_test - 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
void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:
// swash servo 1
rc_write(AP_MOTORS_MOT_1, pwm);
break;
case 2:
// swash servo 2
rc_write(AP_MOTORS_MOT_2, pwm);
break;
case 3:
// swash servo 3
rc_write(AP_MOTORS_MOT_3, pwm);
break;
case 4:
// external gyro & tail servo
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro/1000.0f);
} else {
write_aux(_ext_gyro_gain_std/1000.0f);
}
}
rc_write(AP_MOTORS_MOT_4, pwm);
break;
case 5:
// main rotor
rc_write(AP_MOTORS_HELI_SINGLE_RSC, pwm);
break;
default:
// do nothing
break;
}
}
// move_yaw
void AP_MotorsHeli_Single::move_yaw(int16_t yaw_out)
{
_yaw_servo.servo_out = constrain_int16(yaw_out, -4500, 4500);
if (_yaw_servo.servo_out != yaw_out) {
limit.yaw = true;
}
_yaw_servo.calc_pwm();
rc_write(AP_MOTORS_MOT_4, _yaw_servo.radio_out);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
if (_acro_tail && _ext_gyro_gain_acro > 0) {
write_aux(_ext_gyro_gain_acro);
} else {
write_aux(_ext_gyro_gain_std);
}
} else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH && _main_rotor.get_desired_speed() > 0) {
// output yaw servo to tail rsc
write_aux(_yaw_servo.servo_out);
}
}
// output_test - 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
void AP_MotorsHeli::output_test(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:
// swash servo 1
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm);
break;
case 2:
// swash servo 2
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm);
break;
case 3:
// swash servo 3
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), pwm);
break;
case 4:
// external gyro & tail servo
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
write_aux(_ext_gyro_gain);
}
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
break;
case 5:
// main rotor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_HELI_RSC]), pwm);
break;
default:
// do nothing
break;
}
}
//
// heli_move_swash - moves swash plate to attitude of parameters passed in
// - expected ranges:
// roll : -4500 ~ 4500
// pitch: -4500 ~ 4500
// collective: 0 ~ 1000
// yaw: -4500 ~ 4500
//
void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out)
{
int16_t yaw_offset = 0;
int16_t coll_out_scaled;
// initialize limits flag
limit.roll_pitch = false;
limit.yaw = false;
limit.throttle_lower = false;
limit.throttle_upper = false;
if (_servo_manual == 1) { // are we in manual servo mode? (i.e. swash set-up mode)?
// check if we need to free up the swash
if (_heliflags.swash_initialised) {
reset_swash();
}
// To-Do: This equation seems to be wrong. It probably restricts swash movement so that swash setup doesn't work right.
// _collective_scalar should probably not be used or set to 1?
coll_out_scaled = coll_in * _collective_scalar + _throttle_radio_min - 1000;
}else{ // regular flight mode
// check if we need to reinitialise the swash
if (!_heliflags.swash_initialised) {
init_swash();
}
// rescale roll_out and pitch-out into the min and max ranges to provide linear motion
// across the input range instead of stopping when the input hits the constrain value
// these calculations are based on an assumption of the user specified roll_max and pitch_max
// coming into this equation at 4500 or less, and based on the original assumption of the
// total _servo_x.servo_out range being -4500 to 4500.
roll_out = roll_out * _roll_scaler;
if (roll_out < -_roll_max) {
roll_out = -_roll_max;
limit.roll_pitch = true;
}
if (roll_out > _roll_max) {
roll_out = _roll_max;
limit.roll_pitch = true;
}
// scale pitch and update limits
pitch_out = pitch_out * _pitch_scaler;
if (pitch_out < -_pitch_max) {
pitch_out = -_pitch_max;
limit.roll_pitch = true;
}
if (pitch_out > _pitch_max) {
pitch_out = _pitch_max;
limit.roll_pitch = true;
}
// constrain collective input
_collective_out = coll_in;
if (_collective_out <= 0) {
_collective_out = 0;
limit.throttle_lower = true;
}
if (_collective_out >= 1000) {
_collective_out = 1000;
limit.throttle_upper = true;
}
// ensure not below landed/landing collective
if (_heliflags.landing_collective && _collective_out < _land_collective_min) {
_collective_out = _land_collective_min;
limit.throttle_lower = true;
}
// scale collective pitch
coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
// rudder feed forward based on collective
// the feed-forward is not required when the motor is shut down and not creating torque
// also not required if we are using external gyro
if ((_desired_rotor_speed > 0) && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
// sanity check collective_yaw_effect
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTOR_HELI_COLYAW_RANGE, AP_MOTOR_HELI_COLYAW_RANGE);
yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm);
}
}
// swashplate servos
_servo_1.servo_out = (_rollFactor[CH_1] * roll_out + _pitchFactor[CH_1] * pitch_out)/10 + _collectiveFactor[CH_1] * coll_out_scaled + (_servo_1.radio_trim-1500);
_servo_2.servo_out = (_rollFactor[CH_2] * roll_out + _pitchFactor[CH_2] * pitch_out)/10 + _collectiveFactor[CH_2] * coll_out_scaled + (_servo_2.radio_trim-1500);
if (_swash_type == AP_MOTORS_HELI_SWASH_H1) {
_servo_1.servo_out += 500;
_servo_2.servo_out += 500;
}
_servo_3.servo_out = (_rollFactor[CH_3] * roll_out + _pitchFactor[CH_3] * pitch_out)/10 + _collectiveFactor[CH_3] * coll_out_scaled + (_servo_3.radio_trim-1500);
_servo_4.servo_out = yaw_out + yaw_offset;
// constrain yaw and update limits
if (_servo_4.servo_out < -4500) {
_servo_4.servo_out = -4500;
limit.yaw = true;
}
if (_servo_4.servo_out > 4500) {
_servo_4.servo_out = 4500;
limit.yaw = true;
}
// use servo_out to calculate pwm_out and radio_out
_servo_1.calc_pwm();
_servo_2.calc_pwm();
_servo_3.calc_pwm();
_servo_4.calc_pwm();
// actually move the servos
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo_1.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo_2.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _servo_3.radio_out);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _servo_4.radio_out);
// output gain to exernal gyro
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
write_aux(_ext_gyro_gain);
}
}
//
// heli_move_swash - moves swash plate to attitude of parameters passed in
// - expected ranges:
// roll : -4500 ~ 4500
// pitch: -4500 ~ 4500
// collective: 0 ~ 1000
// yaw: -4500 ~ 4500
//
void AP_MotorsHeli::move_swash(int16_t roll_out, int16_t pitch_out, int16_t coll_in, int16_t yaw_out)
{
int16_t yaw_offset = 0;
int16_t coll_out_scaled;
// initialize limits flag
limit.roll_pitch = false;
limit.yaw = false;
limit.throttle_lower = false;
limit.throttle_upper = false;
if (_servo_manual == 1) { // are we in manual servo mode? (i.e. swash set-up mode)?
// check if we need to free up the swash
if (_heliflags.swash_initialised) {
reset_swash();
}
coll_out_scaled = coll_in * _collective_scalar + _rc_throttle->radio_min - 1000;
}else{ // regular flight mode
// check if we need to reinitialise the swash
if (!_heliflags.swash_initialised) {
init_swash();
}
// rescale roll_out and pitch-out into the min and max ranges to provide linear motion
// across the input range instead of stopping when the input hits the constrain value
// these calculations are based on an assumption of the user specified roll_max and pitch_max
// coming into this equation at 4500 or less, and based on the original assumption of the
// total _servo_x.servo_out range being -4500 to 4500.
roll_out = roll_out * _roll_scaler;
if (roll_out < -_roll_max) {
roll_out = -_roll_max;
limit.roll_pitch = true;
}
if (roll_out > _roll_max) {
roll_out = _roll_max;
limit.roll_pitch = true;
}
// scale pitch and update limits
pitch_out = pitch_out * _pitch_scaler;
if (pitch_out < -_pitch_max) {
pitch_out = -_pitch_max;
limit.roll_pitch = true;
}
if (pitch_out > _pitch_max) {
pitch_out = _pitch_max;
limit.roll_pitch = true;
}
// constrain collective input
_collective_out = coll_in;
if (_collective_out <= 0) {
_collective_out = 0;
limit.throttle_lower = true;
}
if (_collective_out >= 1000) {
_collective_out = 1000;
limit.throttle_upper = true;
}
// ensure not below landed/landing collective
if (_heliflags.landing_collective && _collective_out < _land_collective_min) {
_collective_out = _land_collective_min;
limit.throttle_lower = true;
}
// scale collective pitch
coll_out_scaled = _collective_out * _collective_scalar + _collective_min - 1000;
// rudder feed forward based on collective
// the feed-forward is not required when the motor is shut down and not creating torque
// also not required if we are using external gyro
if (motor_runup_complete() && _tail_type != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
yaw_offset = _collective_yaw_effect * abs(_collective_out - _collective_mid_pwm);
}
}
// swashplate servos
_servo_1->servo_out = (_rollFactor[CH_1] * roll_out + _pitchFactor[CH_1] * pitch_out)/10 + _collectiveFactor[CH_1] * coll_out_scaled + (_servo_1->radio_trim-1500);
_servo_2->servo_out = (_rollFactor[CH_2] * roll_out + _pitchFactor[CH_2] * pitch_out)/10 + _collectiveFactor[CH_2] * coll_out_scaled + (_servo_2->radio_trim-1500);
if (_swash_type == AP_MOTORS_HELI_SWASH_H1) {
_servo_1->servo_out += 500;
_servo_2->servo_out += 500;
}
_servo_3->servo_out = (_rollFactor[CH_3] * roll_out + _pitchFactor[CH_3] * pitch_out)/10 + _collectiveFactor[CH_3] * coll_out_scaled + (_servo_3->radio_trim-1500);
_servo_4->servo_out = yaw_out + yaw_offset;
// constrain yaw and update limits
if (_servo_4->servo_out < -4500) {
_servo_4->servo_out = -4500;
limit.yaw = true;
}
if (_servo_4->servo_out > 4500) {
_servo_4->servo_out = 4500;
limit.yaw = true;
}
// use servo_out to calculate pwm_out and radio_out
_servo_1->calc_pwm();
_servo_2->calc_pwm();
_servo_3->calc_pwm();
_servo_4->calc_pwm();
// actually move the servos
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_1], _servo_1->radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_2], _servo_2->radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_3], _servo_3->radio_out);
hal.rcout->write(_motor_to_channel_map[AP_MOTORS_MOT_4], _servo_4->radio_out);
// output gain to exernal gyro
if (_tail_type == AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
write_aux(_ext_gyro_gain);
}
// to be compatible with other frame types
motor_out[AP_MOTORS_MOT_1] = _servo_1->radio_out;
motor_out[AP_MOTORS_MOT_2] = _servo_2->radio_out;
motor_out[AP_MOTORS_MOT_3] = _servo_3->radio_out;
motor_out[AP_MOTORS_MOT_4] = _servo_4->radio_out;
}