void AP_MotorsTri::output_to_motors()
{
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
rc_write(AP_MOTORS_MOT_1, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_2, get_pwm_output_min());
rc_write(AP_MOTORS_MOT_4, get_pwm_output_min());
rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim());
break;
case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying
rc_write(AP_MOTORS_MOT_1, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_2, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_MOT_4, calc_spin_up_to_pwm());
rc_write(AP_MOTORS_CH_TRI_YAW, _yaw_servo->get_trim());
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_DOWN:
// set motor output based on thrust requests
rc_write(AP_MOTORS_MOT_1, calc_thrust_to_pwm(_thrust_right));
rc_write(AP_MOTORS_MOT_2, calc_thrust_to_pwm(_thrust_left));
rc_write(AP_MOTORS_MOT_4, calc_thrust_to_pwm(_thrust_rear));
rc_write(AP_MOTORS_CH_TRI_YAW, calc_yaw_radio_output(_pivot_angle, radians(_yaw_servo_angle_max_deg)));
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_MotorsCoax::output_to_motors()
{
switch (_spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough, _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough, _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough, _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough, _servo4));
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
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_spin_up_ratio * _actuator_out[3], _servo4));
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
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_yt_ccw));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_yt_cw));
break;
}
}
void AP_MotorsSingle::output_to_motors()
{
switch (_multicopter_flags.spool_mode) {
case SHUT_DOWN:
// sends minimum values out to the motors
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_roll_radio_passthrough+_yaw_radio_passthrough, _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_pitch_radio_passthrough+_yaw_radio_passthrough, _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(-_roll_radio_passthrough+_yaw_radio_passthrough, _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(-_pitch_radio_passthrough+_yaw_radio_passthrough, _servo4));
rc_write(AP_MOTORS_MOT_5, _throttle_radio_min);
rc_write(AP_MOTORS_MOT_6, _throttle_radio_min);
hal.rcout->push();
break;
case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_throttle_low_end_pct * _actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle));
rc_write(AP_MOTORS_MOT_6, constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle));
hal.rcout->push();
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_DOWN:
// set motor output based on thrust requests
hal.rcout->cork();
rc_write(AP_MOTORS_MOT_1, calc_pwm_output_1to1(_actuator_out[0], _servo1));
rc_write(AP_MOTORS_MOT_2, calc_pwm_output_1to1(_actuator_out[1], _servo2));
rc_write(AP_MOTORS_MOT_3, calc_pwm_output_1to1(_actuator_out[2], _servo3));
rc_write(AP_MOTORS_MOT_4, calc_pwm_output_1to1(_actuator_out[3], _servo4));
rc_write(AP_MOTORS_MOT_5, calc_thrust_to_pwm(_thrust_out));
rc_write(AP_MOTORS_MOT_6, calc_thrust_to_pwm(_thrust_out));
hal.rcout->push();
break;
}
}
// output a thrust to all motors that match a given motor mask. This
// is used to control tiltrotor motors in forward flight. Thrust is in
// the range 0 to 1
void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask)
{
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
int16_t motor_out;
if (mask & (1U<<i)) {
motor_out = calc_thrust_to_pwm(thrust);
} else {
motor_out = get_pwm_output_min();
}
rc_write(i, motor_out);
}
}
}
void AP_MotorsMatrix::output_to_motors()
{
int8_t i;
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final pwm values sent to the motor
switch (_spool_mode) {
case 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]) {
if (_disarm_disable_pwm && _disarm_safety_timer == 0 && !armed()) {
motor_out[i] = 0;
} else {
motor_out[i] = get_pwm_output_min();
}
}
}
break;
}
case SPIN_WHEN_ARMED:
// 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] = calc_spin_up_to_pwm();
}
}
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_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
hal.rcout->cork();
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
rc_write(i, motor_out[i]);
}
}
hal.rcout->push();
}
void AP_MotorsMatrix::output_to_motors()
{
int8_t i;
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final pwm values sent to the motor
switch (_multicopter_flags.spool_mode) {
case 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] = _throttle_radio_min;
}
}
break;
case SPIN_WHEN_ARMED:
// 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] = constrain_int16(_throttle_radio_min + _throttle_low_end_pct * _min_throttle, _throttle_radio_min, _throttle_radio_min + _min_throttle);
}
}
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_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
hal.rcout->cork();
for (i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
rc_write(i, motor_out[i]);
}
}
hal.rcout->push();
}
