void AP_MotorsHeli_Single::output_to_motors()
{
if (!_flags.initialised_ok) {
return;
}
// actually move the servos. PWM is sent based on nominal 1500 center. servo output shifts center based on trim value.
rc_write_swash(AP_MOTORS_MOT_1, _servo1_out);
rc_write_swash(AP_MOTORS_MOT_2, _servo2_out);
rc_write_swash(AP_MOTORS_MOT_3, _servo3_out);
if (_tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
rc_write_angle(AP_MOTORS_MOT_4, _servo4_out * YAW_SERVO_MAX_ANGLE);
}
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// output gain to exernal gyro
if (_acro_tail && _ext_gyro_gain_acro > 0) {
rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, 1000 + _ext_gyro_gain_acro);
} else {
rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, 1000 + _ext_gyro_gain_std);
}
}
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
update_motor_control(ROTOR_CONTROL_STOP);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
rc_write_angle(AP_MOTORS_MOT_4, -YAW_SERVO_MAX_ANGLE);
}
break;
case GROUND_IDLE:
// sends idle output to motors when armed. rotor could be static or turning (autorotation)
update_motor_control(ROTOR_CONTROL_IDLE);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
rc_write_angle(AP_MOTORS_MOT_4, -YAW_SERVO_MAX_ANGLE);
}
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
// set motor output based on thrust requests
update_motor_control(ROTOR_CONTROL_ACTIVE);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
// constrain output so that motor never fully stops
_servo4_out = constrain_float(_servo4_out, -0.9f, 1.0f);
// output yaw servo to tail rsc
rc_write_angle(AP_MOTORS_MOT_4, _servo4_out * YAW_SERVO_MAX_ANGLE);
}
break;
case SPOOL_DOWN:
// sends idle output to motors and wait for rotor to stop
update_motor_control(ROTOR_CONTROL_IDLE);
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH){
rc_write_angle(AP_MOTORS_MOT_4, -YAW_SERVO_MAX_ANGLE);
}
break;
}
}
void AP_MotorsSingle::output_to_motors()
{
if (!_flags.initialised_ok) {
return;
}
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
rc_write_angle(AP_MOTORS_MOT_1, _roll_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write_angle(AP_MOTORS_MOT_2, _pitch_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write_angle(AP_MOTORS_MOT_3, -_roll_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write_angle(AP_MOTORS_MOT_4, -_pitch_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_5, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_6, get_pwm_output_min());
break;
case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying
for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write_angle(AP_MOTORS_MOT_1+i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
}
rc_write(AP_MOTORS_MOT_5, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_6, calc_spin_up_to_pwm());
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_DOWN:
// set motor output based on thrust requests
for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write_angle(AP_MOTORS_MOT_1+i, _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
}
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out));
break;
}
}
void AP_MotorsSingle::output_to_motors()
{
if (!_flags.initialised_ok) {
return;
}
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// sends minimum values out to the motors
rc_write_angle(AP_MOTORS_MOT_1, _roll_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write_angle(AP_MOTORS_MOT_2, _pitch_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write_angle(AP_MOTORS_MOT_3, -_roll_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write_angle(AP_MOTORS_MOT_4, -_pitch_radio_passthrough * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
rc_write(AP_MOTORS_MOT_5, output_to_pwm(0));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(0));
break;
case SpoolState::GROUND_IDLE:
// sends output to motors when armed but not flying
for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write_angle(AP_MOTORS_MOT_1+i, _spin_up_ratio * _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
}
set_actuator_with_slew(_actuator[5], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[6], actuator_spin_up_to_ground_idle());
rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6]));
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
case SpoolState::SPOOLING_DOWN:
// set motor output based on thrust requests
for (uint8_t i=0; i<NUM_ACTUATORS; i++) {
rc_write_angle(AP_MOTORS_MOT_1+i, _actuator_out[i] * AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
}
set_actuator_with_slew(_actuator[5], thrust_to_actuator(_thrust_out));
set_actuator_with_slew(_actuator[6], thrust_to_actuator(_thrust_out));
rc_write(AP_MOTORS_MOT_5, output_to_pwm(_actuator[5]));
rc_write(AP_MOTORS_MOT_6, output_to_pwm(_actuator[6]));
break;
}
}
