forked from ArduPilot/ardupilot
-
Notifications
You must be signed in to change notification settings - Fork 1
/
AP_MotorsMulticopter.cpp
756 lines (641 loc) · 28.7 KB
/
AP_MotorsMulticopter.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
/*
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_MotorsMulticopter.cpp - ArduCopter multicopter motors library
* Code by Randy Mackay and Robert Lefebvre. DIYDrones.com
*
*/
#include "AP_MotorsMulticopter.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
extern const AP_HAL::HAL& hal;
// parameters for the motor class
const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
// 0 was used by TB_RATIO
// 1,2,3 were used by throttle curve
// 5 was SPIN_ARMED
// @Param: YAW_HEADROOM
// @DisplayName: Matrix Yaw Min
// @Description: Yaw control is given at least this pwm in microseconds range
// @Range: 0 500
// @Units: PWM
// @User: Advanced
AP_GROUPINFO("YAW_HEADROOM", 6, AP_MotorsMulticopter, _yaw_headroom, AP_MOTORS_YAW_HEADROOM_DEFAULT),
// 7 was THR_LOW_CMP
// @Param: THST_EXPO
// @DisplayName: Thrust Curve Expo
// @Description: Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)
// @Range: 0.25 0.8
// @User: Advanced
AP_GROUPINFO("THST_EXPO", 8, AP_MotorsMulticopter, _thrust_curve_expo, AP_MOTORS_THST_EXPO_DEFAULT),
// @Param: SPIN_MAX
// @DisplayName: Motor Spin maximum
// @Description: Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
// @Values: 0.9:Low, 0.95:Default, 1.0:High
// @User: Advanced
AP_GROUPINFO("SPIN_MAX", 9, AP_MotorsMulticopter, _spin_max, AP_MOTORS_SPIN_MAX_DEFAULT),
// @Param: BAT_VOLT_MAX
// @DisplayName: Battery voltage compensation maximum voltage
// @Description: Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled
// @Range: 6 35
// @Units: V
// @User: Advanced
AP_GROUPINFO("BAT_VOLT_MAX", 10, AP_MotorsMulticopter, _batt_voltage_max, AP_MOTORS_BAT_VOLT_MAX_DEFAULT),
// @Param: BAT_VOLT_MIN
// @DisplayName: Battery voltage compensation minimum voltage
// @Description: Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled
// @Range: 6 35
// @Units: V
// @User: Advanced
AP_GROUPINFO("BAT_VOLT_MIN", 11, AP_MotorsMulticopter, _batt_voltage_min, AP_MOTORS_BAT_VOLT_MIN_DEFAULT),
// @Param: BAT_CURR_MAX
// @DisplayName: Motor Current Max
// @Description: Maximum current over which maximum throttle is limited (0 = Disabled)
// @Range: 0 200
// @Units: A
// @User: Advanced
AP_GROUPINFO("BAT_CURR_MAX", 12, AP_MotorsMulticopter, _batt_current_max, AP_MOTORS_BAT_CURR_MAX_DEFAULT),
// 13, 14 were used by THR_MIX_MIN, THR_MIX_MAX
// @Param: PWM_TYPE
// @DisplayName: Output PWM type
// @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
// @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:DShot150,5:DShot300,6:DShot600,7:DShot1200
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),
// @Param: PWM_MIN
// @DisplayName: PWM output miniumum
// @Description: This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN
// @Units: PWM
// @Range: 0 2000
// @User: Advanced
AP_GROUPINFO("PWM_MIN", 16, AP_MotorsMulticopter, _pwm_min, 0),
// @Param: PWM_MAX
// @DisplayName: PWM output maximum
// @Description: This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX
// @Units: PWM
// @Range: 0 2000
// @User: Advanced
AP_GROUPINFO("PWM_MAX", 17, AP_MotorsMulticopter, _pwm_max, 0),
// @Param: SPIN_MIN
// @DisplayName: Motor Spin minimum
// @Description: Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.
// @Values: 0.0:Low, 0.15:Default, 0.3:High
// @User: Advanced
AP_GROUPINFO("SPIN_MIN", 18, AP_MotorsMulticopter, _spin_min, AP_MOTORS_SPIN_MIN_DEFAULT),
// @Param: SPIN_ARM
// @DisplayName: Motor Spin armed
// @Description: Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.
// @Values: 0.0:Low, 0.1:Default, 0.2:High
// @User: Advanced
AP_GROUPINFO("SPIN_ARM", 19, AP_MotorsMulticopter, _spin_arm, AP_MOTORS_SPIN_ARM_DEFAULT),
// @Param: BAT_CURR_TC
// @DisplayName: Motor Current Max Time Constant
// @Description: Time constant used to limit the maximum current
// @Range: 0 10
// @Units: s
// @User: Advanced
AP_GROUPINFO("BAT_CURR_TC", 20, AP_MotorsMulticopter, _batt_current_time_constant, AP_MOTORS_BAT_CURR_TC_DEFAULT),
// @Param: THST_HOVER
// @DisplayName: Thrust Hover Value
// @Description: Motor thrust needed to hover expressed as a number from 0 to 1
// @Range: 0.2 0.8
// @User: Advanced
AP_GROUPINFO("THST_HOVER", 21, AP_MotorsMulticopter, _throttle_hover, AP_MOTORS_THST_HOVER_DEFAULT),
// @Param: HOVER_LEARN
// @DisplayName: Hover Value Learning
// @Description: Enable/Disable automatic learning of hover throttle
// @Values{Copter}: 0:Disabled, 1:Learn, 2:Learn and Save
// @Values{Sub}: 0:Disabled
// @Values{Plane}: 0:Disabled, 1:Learn, 2:Learn and Save
// @User: Advanced
AP_GROUPINFO("HOVER_LEARN", 22, AP_MotorsMulticopter, _throttle_hover_learn, HOVER_LEARN_AND_SAVE),
// @Param: SAFE_DISARM
// @DisplayName: Motor PWM output disabled when disarmed
// @Description: Disables motor PWM output when disarmed
// @Values: 0:PWM enabled while disarmed, 1:PWM disabled while disarmed
// @User: Advanced
AP_GROUPINFO("SAFE_DISARM", 23, AP_MotorsMulticopter, _disarm_disable_pwm, 0),
// @Param: YAW_SV_ANGLE
// @DisplayName: Yaw Servo Max Lean Angle
// @Description: Yaw servo's maximum lean angle
// @Range: 5 80
// @Units: deg
// @Increment: 1
// @User: Standard
AP_GROUPINFO_FRAME("YAW_SV_ANGLE", 35, AP_MotorsMulticopter, _yaw_servo_angle_max_deg, 30, AP_PARAM_FRAME_TRICOPTER),
// @Param: SPOOL_TIME
// @DisplayName: Spool up time
// @Description: Time in seconds to spool up the motors from zero to min throttle.
// @Range: 0 2
// @Units: s
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("SPOOL_TIME", 36, AP_MotorsMulticopter, _spool_up_time, AP_MOTORS_SPOOL_UP_TIME_DEFAULT),
// @Param: BOOST_SCALE
// @DisplayName: Motor boost scale
// @Description: Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
// @Range: 0 5
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("BOOST_SCALE", 37, AP_MotorsMulticopter, _boost_scale, 0),
// 38 RESERVED for BAT_POW_MAX
// @Param: BAT_IDX
// @DisplayName: Battery compensation index
// @Description: Which battery monitor should be used for doing compensation
// @Values: 0:First battery, 1:Second battery
// @User: Advanced
AP_GROUPINFO("BAT_IDX", 39, AP_MotorsMulticopter, _batt_idx, 0),
// @Param: SLEW_UP_TIME
// @DisplayName: Output slew time for increasing throttle
// @Description: Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
// @Range: 0 .5
// @Units: s
// @Increment: 0.001
// @User: Advanced
AP_GROUPINFO("SLEW_UP_TIME", 40, AP_MotorsMulticopter, _slew_up_time, AP_MOTORS_SLEW_TIME_DEFAULT),
// @Param: SLEW_DN_TIME
// @DisplayName: Output slew time for decreasing throttle
// @Description: Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
// @Range: 0 .5
// @Units: s
// @Increment: 0.001
// @User: Advanced
AP_GROUPINFO("SLEW_DN_TIME", 41, AP_MotorsMulticopter, _slew_dn_time, AP_MOTORS_SLEW_TIME_DEFAULT),
// @Param: SAFE_TIME
// @DisplayName: Time taken to disable and enable the motor PWM output when disarmed and armed.
// @Description: Time taken to disable and enable the motor PWM output when disarmed and armed.
// @Range: 0 5
// @Units: s
// @Increment: 0.001
// @User: Advanced
AP_GROUPINFO("SAFE_TIME", 42, AP_MotorsMulticopter, _safe_time, AP_MOTORS_SAFE_TIME_DEFAULT),
AP_GROUPEND
};
// Constructor
AP_MotorsMulticopter::AP_MotorsMulticopter(uint16_t loop_rate, uint16_t speed_hz) :
AP_Motors(loop_rate, speed_hz),
_lift_max(1.0f),
_throttle_limit(1.0f)
{
AP_Param::setup_object_defaults(this, var_info);
// setup battery voltage filtering
_batt_voltage_filt.set_cutoff_frequency(AP_MOTORS_BATT_VOLT_FILT_HZ);
_batt_voltage_filt.reset(1.0f);
// default throttle range
_throttle_radio_min = 1100;
_throttle_radio_max = 1900;
};
// output - sends commands to the motors
void AP_MotorsMulticopter::output()
{
// update throttle filter
update_throttle_filter();
// calc filtered battery voltage and lift_max
update_lift_max_from_batt_voltage();
// run spool logic
output_logic();
// calculate thrust
output_armed_stabilizing();
// apply any thrust compensation for the frame
thrust_compensation();
// convert rpy_thrust values to pwm
output_to_motors();
// output any booster throttle
output_boost_throttle();
};
// output booster throttle, if any
void AP_MotorsMulticopter::output_boost_throttle(void)
{
if (_boost_scale > 0) {
float throttle = constrain_float(get_throttle() * _boost_scale, 0, 1);
SRV_Channels::set_output_scaled(SRV_Channel::k_boost_throttle, throttle * 1000);
}
}
// sends minimum values out to the motors
void AP_MotorsMulticopter::output_min()
{
set_desired_spool_state(DesiredSpoolState::SHUT_DOWN);
_spool_state = SpoolState::SHUT_DOWN;
output();
}
// update the throttle input filter
void AP_MotorsMulticopter::update_throttle_filter()
{
if (armed()) {
_throttle_filter.apply(_throttle_in, 1.0f / _loop_rate);
// constrain filtered throttle
if (_throttle_filter.get() < 0.0f) {
_throttle_filter.reset(0.0f);
}
if (_throttle_filter.get() > 1.0f) {
_throttle_filter.reset(1.0f);
}
} else {
_throttle_filter.reset(0.0f);
}
}
// return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
float AP_MotorsMulticopter::get_current_limit_max_throttle()
{
AP_BattMonitor &battery = AP::battery();
float _batt_current;
if (_batt_current_max <= 0 || // return maximum if current limiting is disabled
!_flags.armed || // remove throttle limit if disarmed
!battery.current_amps(_batt_current, _batt_idx)) { // no current monitoring is available
_throttle_limit = 1.0f;
return 1.0f;
}
float _batt_resistance = battery.get_resistance(_batt_idx);
if (is_zero(_batt_resistance)) {
_throttle_limit = 1.0f;
return 1.0f;
}
// calculate the maximum current to prevent voltage sag below _batt_voltage_min
float batt_current_max = MIN(_batt_current_max, _batt_current + (battery.voltage(_batt_idx) - _batt_voltage_min) / _batt_resistance);
float batt_current_ratio = _batt_current / batt_current_max;
float loop_interval = 1.0f / _loop_rate;
_throttle_limit += (loop_interval / (loop_interval + _batt_current_time_constant)) * (1.0f - batt_current_ratio);
// throttle limit drops to 20% between hover and full throttle
_throttle_limit = constrain_float(_throttle_limit, 0.2f, 1.0f);
// limit max throttle
return get_throttle_hover() + ((1.0 - get_throttle_hover()) * _throttle_limit);
}
// apply_thrust_curve_and_volt_scaling - returns throttle in the range 0 ~ 1
float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) const
{
float throttle_ratio = thrust;
// apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
float thrust_curve_expo = constrain_float(_thrust_curve_expo, -1.0f, 1.0f);
if (fabsf(thrust_curve_expo) < 0.001) {
// zero expo means linear, avoid floating point exception for small values
return thrust;
}
if (!is_zero(_batt_voltage_filt.get())) {
throttle_ratio = ((thrust_curve_expo - 1.0f) + safe_sqrt((1.0f - thrust_curve_expo) * (1.0f - thrust_curve_expo) + 4.0f * thrust_curve_expo * _lift_max * thrust)) / (2.0f * thrust_curve_expo * _batt_voltage_filt.get());
} else {
throttle_ratio = ((thrust_curve_expo - 1.0f) + safe_sqrt((1.0f - thrust_curve_expo) * (1.0f - thrust_curve_expo) + 4.0f * thrust_curve_expo * _lift_max * thrust)) / (2.0f * thrust_curve_expo);
}
return constrain_float(throttle_ratio, 0.0f, 1.0f);
}
// update_lift_max from battery voltage - used for voltage compensation
void AP_MotorsMulticopter::update_lift_max_from_batt_voltage()
{
// sanity check battery_voltage_min is not too small
// if disabled or misconfigured exit immediately
float _batt_voltage_resting_estimate = AP::battery().voltage_resting_estimate(_batt_idx);
if ((_batt_voltage_max <= 0) || (_batt_voltage_min >= _batt_voltage_max) || (_batt_voltage_resting_estimate < 0.25f * _batt_voltage_min)) {
_batt_voltage_filt.reset(1.0f);
_lift_max = 1.0f;
return;
}
_batt_voltage_min = MAX(_batt_voltage_min, _batt_voltage_max * 0.6f);
// contrain resting voltage estimate (resting voltage is actual voltage with sag removed based on current draw and resistance)
_batt_voltage_resting_estimate = constrain_float(_batt_voltage_resting_estimate, _batt_voltage_min, _batt_voltage_max);
// filter at 0.5 Hz
float batt_voltage_filt = _batt_voltage_filt.apply(_batt_voltage_resting_estimate / _batt_voltage_max, 1.0f / _loop_rate);
// calculate lift max
float thrust_curve_expo = constrain_float(_thrust_curve_expo, -1.0f, 1.0f);
_lift_max = batt_voltage_filt * (1 - thrust_curve_expo) + thrust_curve_expo * batt_voltage_filt * batt_voltage_filt;
}
float AP_MotorsMulticopter::get_compensation_gain() const
{
// avoid divide by zero
if (_lift_max <= 0.0f) {
return 1.0f;
}
float ret = 1.0f / _lift_max;
#if AP_MOTORS_DENSITY_COMP == 1
// air density ratio is increasing in density / decreasing in altitude
if (_air_density_ratio > 0.3f && _air_density_ratio < 1.5f) {
ret *= 1.0f / constrain_float(_air_density_ratio, 0.5f, 1.25f);
}
#endif
return ret;
}
// convert actuator output (0~1) range to pwm range
int16_t AP_MotorsMulticopter::output_to_pwm(float actuator)
{
float pwm_output;
if (_spool_state == SpoolState::SHUT_DOWN) {
// in shutdown mode, use PWM 0 or minimum PWM
if (_disarm_disable_pwm && !armed()) {
pwm_output = 0;
} else {
pwm_output = get_pwm_output_min();
}
} else {
// in all other spool modes, covert to desired PWM
pwm_output = get_pwm_output_min() + (get_pwm_output_max() - get_pwm_output_min()) * actuator;
}
return pwm_output;
}
// converts desired thrust to linearized actuator output in a range of 0~1
float AP_MotorsMulticopter::thrust_to_actuator(float thrust_in)
{
thrust_in = constrain_float(thrust_in, 0.0f, 1.0f);
return _spin_min + (_spin_max - _spin_min) * apply_thrust_curve_and_volt_scaling(thrust_in);
}
// adds slew rate limiting to actuator output
void AP_MotorsMulticopter::set_actuator_with_slew(float& actuator_output, float input)
{
/*
If MOT_SLEW_UP_TIME is 0 (default), no slew limit is applied to increasing output.
If MOT_SLEW_DN_TIME is 0 (default), no slew limit is applied to decreasing output.
MOT_SLEW_UP_TIME and MOT_SLEW_DN_TIME are constrained to 0.0~0.5 for sanity.
If spool mode is shutdown, no slew limit is applied to allow immediate disarming of motors.
*/
// Output limits with no slew time applied
float output_slew_limit_up = 1.0f;
float output_slew_limit_dn = 0.0f;
// If MOT_SLEW_UP_TIME is set, calculate the highest allowed new output value, constrained 0.0~1.0
if (is_positive(_slew_up_time)) {
float output_delta_up_max = 1.0f / (constrain_float(_slew_up_time, 0.0f, 0.5f) * _loop_rate);
output_slew_limit_up = constrain_float(actuator_output + output_delta_up_max, 0.0f, 1.0f);
}
// If MOT_SLEW_DN_TIME is set, calculate the lowest allowed new output value, constrained 0.0~1.0
if (is_positive(_slew_dn_time)) {
float output_delta_dn_max = 1.0f / (constrain_float(_slew_dn_time, 0.0f, 0.5f) * _loop_rate);
output_slew_limit_dn = constrain_float(actuator_output - output_delta_dn_max, 0.0f, 1.0f);
}
// Constrain change in output to within the above limits
actuator_output = constrain_float(input, output_slew_limit_dn, output_slew_limit_up);
}
// gradually increase actuator output to spin_min
float AP_MotorsMulticopter::actuator_spin_up_to_ground_idle() const
{
return constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
}
// get minimum pwm value that can be output to motors
int16_t AP_MotorsMulticopter::get_pwm_output_min() const
{
// return _pwm_min if both PWM_MIN and PWM_MAX parameters are defined and valid
if ((_pwm_min > 0) && (_pwm_max > 0) && (_pwm_max > _pwm_min)) {
return _pwm_min;
}
return _throttle_radio_min;
}
// get maximum pwm value that can be output to motors
int16_t AP_MotorsMulticopter::get_pwm_output_max() const
{
// return _pwm_max if both PWM_MIN and PWM_MAX parameters are defined and valid
if ((_pwm_min > 0) && (_pwm_max > 0) && (_pwm_max > _pwm_min)) {
return _pwm_max;
}
return _throttle_radio_max;
}
// set_throttle_range - sets the minimum throttle that will be sent to the engines when they're not off (i.e. to prevents issues with some motors spinning and some not at very low throttle)
// also sets throttle channel minimum and maximum pwm
void AP_MotorsMulticopter::set_throttle_range(int16_t radio_min, int16_t radio_max)
{
// sanity check
if (radio_max <= radio_min) {
return;
}
_throttle_radio_min = radio_min;
_throttle_radio_max = radio_max;
if (_pwm_type >= PWM_TYPE_DSHOT150 && _pwm_type <= PWM_TYPE_DSHOT1200) {
// force PWM range for DShot ESCs
_pwm_min.set(1000);
_pwm_max.set(2000);
}
hal.rcout->set_esc_scaling(get_pwm_output_min(), get_pwm_output_max());
}
// update the throttle input filter. should be called at 100hz
void AP_MotorsMulticopter::update_throttle_hover(float dt)
{
if (_throttle_hover_learn != HOVER_LEARN_DISABLED) {
// we have chosen to constrain the hover throttle to be within the range reachable by the third order expo polynomial.
_throttle_hover = constrain_float(_throttle_hover + (dt / (dt + AP_MOTORS_THST_HOVER_TC)) * (get_throttle() - _throttle_hover), AP_MOTORS_THST_HOVER_MIN, AP_MOTORS_THST_HOVER_MAX);
}
}
// run spool logic
void AP_MotorsMulticopter::output_logic()
{
if (_flags.armed) {
if (_disarm_disable_pwm && (_disarm_safe_timer < _safe_time)) {
_disarm_safe_timer += 1.0f/_loop_rate;
} else {
_disarm_safe_timer = _safe_time;
}
} else {
_disarm_safe_timer = 0.0f;
}
// force desired and current spool mode if disarmed or not interlocked
if (!_flags.armed || !_flags.interlock) {
_spool_desired = DesiredSpoolState::SHUT_DOWN;
_spool_state = SpoolState::SHUT_DOWN;
}
if (_spool_up_time < 0.05) {
// prevent float exception
_spool_up_time.set(0.05);
}
switch (_spool_state) {
case SpoolState::SHUT_DOWN:
// Motors should be stationary.
// Servos set to their trim values or in a test condition.
// set limits flags
limit.roll = true;
limit.pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = true;
// make sure the motors are spooling in the correct direction
if (_spool_desired != DesiredSpoolState::SHUT_DOWN && _disarm_safe_timer >= _safe_time.get()) {
_spool_state = SpoolState::GROUND_IDLE;
break;
}
// set and increment ramp variables
_spin_up_ratio = 0.0f;
_throttle_thrust_max = 0.0f;
// initialise motor failure variables
_thrust_boost = false;
_thrust_boost_ratio = 0.0f;
break;
case SpoolState::GROUND_IDLE: {
// Motors should be stationary or at ground idle.
// Servos should be moving to correct the current attitude.
// set limits flags
limit.roll = true;
limit.pitch = true;
limit.yaw = true;
limit.throttle_lower = true;
limit.throttle_upper = true;
// set and increment ramp variables
float spool_step = 1.0f / (_spool_up_time * _loop_rate);
switch (_spool_desired) {
case DesiredSpoolState::SHUT_DOWN:
_spin_up_ratio -= spool_step;
// constrain ramp value and update mode
if (_spin_up_ratio <= 0.0f) {
_spin_up_ratio = 0.0f;
_spool_state = SpoolState::SHUT_DOWN;
}
break;
case DesiredSpoolState::THROTTLE_UNLIMITED:
_spin_up_ratio += spool_step;
// constrain ramp value and update mode
if (_spin_up_ratio >= 1.0f) {
_spin_up_ratio = 1.0f;
_spool_state = SpoolState::SPOOLING_UP;
}
break;
case DesiredSpoolState::GROUND_IDLE:
float spin_up_armed_ratio = 0.0f;
if (_spin_min > 0.0f) {
spin_up_armed_ratio = _spin_arm / _spin_min;
}
_spin_up_ratio += constrain_float(spin_up_armed_ratio - _spin_up_ratio, -spool_step, spool_step);
break;
}
_throttle_thrust_max = 0.0f;
// initialise motor failure variables
_thrust_boost = false;
_thrust_boost_ratio = 0.0f;
break;
}
case SpoolState::SPOOLING_UP:
// Maximum throttle should move from minimum to maximum.
// Servos should exhibit normal flight behavior.
// initialize limits flags
limit.roll = false;
limit.pitch = false;
limit.yaw = false;
limit.throttle_lower = false;
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if (_spool_desired != DesiredSpoolState::THROTTLE_UNLIMITED) {
_spool_state = SpoolState::SPOOLING_DOWN;
break;
}
// set and increment ramp variables
_spin_up_ratio = 1.0f;
_throttle_thrust_max += 1.0f / (_spool_up_time * _loop_rate);
// constrain ramp value and update mode
if (_throttle_thrust_max >= MIN(get_throttle(), get_current_limit_max_throttle())) {
_throttle_thrust_max = get_current_limit_max_throttle();
_spool_state = SpoolState::THROTTLE_UNLIMITED;
} else if (_throttle_thrust_max < 0.0f) {
_throttle_thrust_max = 0.0f;
}
// initialise motor failure variables
_thrust_boost = false;
_thrust_boost_ratio = MAX(0.0, _thrust_boost_ratio - 1.0 / (_spool_up_time * _loop_rate));
break;
case SpoolState::THROTTLE_UNLIMITED:
// Throttle should exhibit normal flight behavior.
// Servos should exhibit normal flight behavior.
// initialize limits flags
limit.roll = false;
limit.pitch = false;
limit.yaw = false;
limit.throttle_lower = false;
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if (_spool_desired != DesiredSpoolState::THROTTLE_UNLIMITED) {
_spool_state = SpoolState::SPOOLING_DOWN;
break;
}
// set and increment ramp variables
_spin_up_ratio = 1.0f;
_throttle_thrust_max = get_current_limit_max_throttle();
if (_thrust_boost && !_thrust_balanced) {
_thrust_boost_ratio = MIN(1.0, _thrust_boost_ratio + 1.0f / (_spool_up_time * _loop_rate));
} else {
_thrust_boost_ratio = MAX(0.0, _thrust_boost_ratio - 1.0f / (_spool_up_time * _loop_rate));
}
break;
case SpoolState::SPOOLING_DOWN:
// Maximum throttle should move from maximum to minimum.
// Servos should exhibit normal flight behavior.
// initialize limits flags
limit.roll = false;
limit.pitch = false;
limit.yaw = false;
limit.throttle_lower = false;
limit.throttle_upper = false;
// make sure the motors are spooling in the correct direction
if (_spool_desired == DesiredSpoolState::THROTTLE_UNLIMITED) {
_spool_state = SpoolState::SPOOLING_UP;
break;
}
// set and increment ramp variables
_spin_up_ratio = 1.0f;
_throttle_thrust_max -= 1.0f / (_spool_up_time * _loop_rate);
// constrain ramp value and update mode
if (_throttle_thrust_max <= 0.0f) {
_throttle_thrust_max = 0.0f;
}
if (_throttle_thrust_max >= get_current_limit_max_throttle()) {
_throttle_thrust_max = get_current_limit_max_throttle();
} else if (is_zero(_throttle_thrust_max)) {
_spool_state = SpoolState::GROUND_IDLE;
}
_thrust_boost_ratio = MAX(0.0, _thrust_boost_ratio - 1.0f / (_spool_up_time * _loop_rate));
break;
}
}
// passes throttle directly to all motors for ESC calibration.
// throttle_input is in the range of 0 ~ 1 where 0 will send get_pwm_output_min() and 1 will send get_pwm_output_max()
void AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(float throttle_input)
{
if (armed()) {
uint16_t pwm_out = get_pwm_output_min() + constrain_float(throttle_input, 0.0f, 1.0f) * (get_pwm_output_max() - get_pwm_output_min());
// send the pilot's input directly to each enabled motor
for (uint16_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
rc_write(i, pwm_out);
}
}
// send pwm output to channels used by bicopter
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, pwm_out);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, pwm_out);
}
}
// 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, float rudder_dt)
{
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
if (mask & (1U << i)) {
/*
apply rudder mixing differential thrust
copter frame roll is plane frame yaw as this only
apples to either tilted motors or tailsitters
*/
float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
set_actuator_with_slew(_actuator[i], thrust_to_actuator(thrust + diff_thrust));
int16_t pwm_output = get_pwm_output_min() + (get_pwm_output_max() - get_pwm_output_min()) * _actuator[i];
rc_write(i, pwm_output);
} else {
rc_write(i, get_pwm_output_min());
}
}
}
}
// 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
uint16_t AP_MotorsMulticopter::get_motor_mask()
{
return SRV_Channels::get_output_channel_mask(SRV_Channel::k_boost_throttle);
}
// save parameters as part of disarming
void AP_MotorsMulticopter::save_params_on_disarm()
{
// save hover throttle
if (_throttle_hover_learn == HOVER_LEARN_AND_SAVE) {
_throttle_hover.save();
}
}