#include <AP_Motors_Class.h>

Inheritance diagram for AP_Motors:

Collaboration diagram for AP_Motors:

Classes
struct	AP_Motors_flags

struct	AP_Motors_limit

Public Types
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_Y6B = 10, MOTOR_FRAME_TYPE_Y6F = 11 }

enum	spool_up_down_desired { DESIRED_SHUT_DOWN = 0, DESIRED_SPIN_WHEN_ARMED = 1, DESIRED_THROTTLE_UNLIMITED = 2 }

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 }

Public Member Functions
	AP_Motors (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_SPEED_DEFAULT)

bool	initialised_ok () const

bool	armed () const

void	armed (bool arm)

void	set_interlock (bool set)

bool	get_interlock () const

void	set_roll (float roll_in)

void	set_pitch (float pitch_in)

void	set_yaw (float yaw_in)

void	set_throttle (float throttle_in)

void	set_throttle_avg_max (float throttle_avg_max)

void	set_throttle_filter_cutoff (float filt_hz)

void	set_forward (float forward_in)

void	set_lateral (float lateral_in)

float	get_roll () const

float	get_pitch () const

float	get_yaw () const

float	get_throttle () const

float	get_throttle_bidirectional () const

float	get_forward () const

float	get_lateral () const

virtual float	get_throttle_hover () const =0

virtual void	set_desired_spool_state (enum spool_up_down_desired spool)

enum spool_up_down_desired	get_desired_spool_state (void) const

void	set_air_density_ratio (float ratio)

virtual void	set_update_rate (uint16_t speed_hz)

virtual void	init (motor_frame_class frame_class, motor_frame_type frame_type)=0

virtual void	set_frame_class_and_type (motor_frame_class frame_class, motor_frame_type frame_type)=0

virtual void	output ()=0

virtual void	output_min ()=0

virtual void	output_test (uint8_t motor_seq, int16_t pwm)=0

virtual uint16_t	get_motor_mask ()=0

void	set_radio_passthrough (float roll_input, float pitch_input, float throttle_input, float yaw_input)

void	set_loop_rate (uint16_t loop_rate)

pwm_type	get_pwm_type (void) const

Static Public Member Functions
static AP_Motors *	get_instance (void)

Public Attributes
struct AP_Motors::AP_Motors_limit	limit

Protected Member Functions
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

void	add_motor_num (int8_t motor_num)

virtual void	update_throttle_filter ()=0

virtual void	save_params_on_disarm ()

int16_t	calc_pwm_output_1to1 (float input, const SRV_Channel *servo)

int16_t	calc_pwm_output_0to1 (float input, const SRV_Channel *servo)

Protected Attributes
struct AP_Motors::AP_Motors_flags	_flags

uint16_t	_loop_rate

uint16_t	_speed_hz

float	_roll_in

float	_pitch_in

float	_yaw_in

float	_throttle_in

float	_forward_in

float	_lateral_in

float	_throttle_avg_max

LowPassFilterFloat	_throttle_filter

spool_up_down_desired	_spool_desired

float	_air_density_ratio

uint16_t	_motor_fast_mask

float	_roll_radio_passthrough

float	_pitch_radio_passthrough

float	_throttle_radio_passthrough

float	_yaw_radio_passthrough

AP_Int8	_pwm_type

Static Private Attributes
static AP_Motors *	_instance

Detailed Description

Definition at line 29 of file AP_Motors_Class.h.

Member Enumeration Documentation

◆ motor_frame_class

enum AP_Motors::motor_frame_class

Enumerator
MOTOR_FRAME_UNDEFINED
MOTOR_FRAME_QUAD
MOTOR_FRAME_HEXA
MOTOR_FRAME_OCTA
MOTOR_FRAME_OCTAQUAD
MOTOR_FRAME_Y6
MOTOR_FRAME_HELI
MOTOR_FRAME_TRI
MOTOR_FRAME_SINGLE
MOTOR_FRAME_COAX
MOTOR_FRAME_TAILSITTER
MOTOR_FRAME_HELI_DUAL
MOTOR_FRAME_DODECAHEXA
MOTOR_FRAME_HELI_QUAD

Definition at line 32 of file AP_Motors_Class.h.

◆ motor_frame_type

enum AP_Motors::motor_frame_type

Enumerator
MOTOR_FRAME_TYPE_PLUS
MOTOR_FRAME_TYPE_X
MOTOR_FRAME_TYPE_V
MOTOR_FRAME_TYPE_H
MOTOR_FRAME_TYPE_VTAIL
MOTOR_FRAME_TYPE_ATAIL
MOTOR_FRAME_TYPE_Y6B
MOTOR_FRAME_TYPE_Y6F

Definition at line 48 of file AP_Motors_Class.h.

◆ pwm_type

enum AP_Motors::pwm_type

Enumerator
PWM_TYPE_NORMAL
PWM_TYPE_ONESHOT
PWM_TYPE_ONESHOT125
PWM_TYPE_BRUSHED
PWM_TYPE_DSHOT150
PWM_TYPE_DSHOT300
PWM_TYPE_DSHOT600
PWM_TYPE_DSHOT1200

Definition at line 154 of file AP_Motors_Class.h.

◆ spool_up_down_desired

enum AP_Motors::spool_up_down_desired

Enumerator
DESIRED_SHUT_DOWN
DESIRED_SPIN_WHEN_ARMED
DESIRED_THROTTLE_UNLIMITED

Definition at line 99 of file AP_Motors_Class.h.

Constructor & Destructor Documentation

◆ AP_Motors()

AP_Motors::AP_Motors	(	uint16_t	loop_rate,
		uint16_t	speed_hz = `AP_MOTORS_SPEED_DEFAULT`
	)

Definition at line 33 of file AP_Motors_Class.cpp.

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Member Function Documentation

◆ add_motor_num()

void AP_Motors::add_motor_num ( int8_t motor_num )

protected

Definition at line 203 of file AP_Motors_Class.cpp.

Referenced by AP_MotorsMatrix::add_motor_raw(), get_pwm_type(), AP_MotorsTri::init(), AP_MotorsCoax::init(), and AP_MotorsSingle::init().

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◆ armed() [1/2]

bool AP_Motors::armed ( ) const

inline

Definition at line 69 of file AP_Motors_Class.h.

Referenced by motor_order_test(), AP_MotorsMatrix::output_test(), AP_MotorsHeli_Quad::output_test(), AP_MotorsTri::output_test(), AP_MotorsSingle::output_test(), AP_MotorsCoax::output_test(), AP_MotorsHeli_Dual::output_test(), AP_MotorsHeli_Single::output_test(), AP_MotorsMatrix::output_to_motors(), AP_MotorsMatrix::set_frame_class_and_type(), AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(), stability_test(), and AP_MotorsMulticopter::update_throttle_filter().

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◆ armed() [2/2]

void AP_Motors::armed ( bool arm )

Definition at line 64 of file AP_Motors_Class.cpp.

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◆ calc_pwm_output_0to1()

int16_t AP_Motors::calc_pwm_output_0to1	(	float	input,
		const SRV_Channel *	servo
	)

protected

Definition at line 185 of file AP_Motors_Class.cpp.

Referenced by save_params_on_disarm(), and AP_MotorsHeli_Single::write_aux().

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◆ calc_pwm_output_1to1()

int16_t AP_Motors::calc_pwm_output_1to1	(	float	input,
		const SRV_Channel *	servo
	)

protected

Definition at line 165 of file AP_Motors_Class.cpp.

Referenced by AP_MotorsHeli_Quad::move_actuators(), AP_MotorsHeli_Single::move_yaw(), and save_params_on_disarm().

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◆ get_desired_spool_state()

enum spool_up_down_desired AP_Motors::get_desired_spool_state ( void ) const

inline

Definition at line 107 of file AP_Motors_Class.h.

◆ get_forward()

float AP_Motors::get_forward ( ) const

inline

Definition at line 94 of file AP_Motors_Class.h.

◆ get_instance()

static AP_Motors* AP_Motors::get_instance ( void )

inlinestatic

Definition at line 63 of file AP_Motors_Class.h.

◆ get_interlock()

bool AP_Motors::get_interlock ( ) const

inline

Definition at line 76 of file AP_Motors_Class.h.

◆ get_lateral()

float AP_Motors::get_lateral ( ) const

inline

Definition at line 95 of file AP_Motors_Class.h.

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◆ get_motor_mask()

virtual uint16_t AP_Motors::get_motor_mask ( )

pure virtual

Implemented in AP_MotorsHeli, AP_MotorsHeli_Single, AP_MotorsHeli_Dual, AP_MotorsHeli_Quad, AP_MotorsCoax, AP_MotorsSingle, AP_MotorsTri, AP_MotorsMatrix, and AP_MotorsTailsitter.

Referenced by set_update_rate().

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◆ get_pitch()

float AP_Motors::get_pitch ( ) const

inline

Definition at line 90 of file AP_Motors_Class.h.

Referenced by DataFlash_Class::Log_Write_Rate().

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◆ get_pwm_type()

pwm_type AP_Motors::get_pwm_type ( void ) const

inline

Definition at line 162 of file AP_Motors_Class.h.

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◆ get_roll()

float AP_Motors::get_roll ( ) const

inline

Definition at line 89 of file AP_Motors_Class.h.

Referenced by DataFlash_Class::Log_Write_Rate().

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◆ get_throttle()

float AP_Motors::get_throttle ( ) const

inline

Definition at line 92 of file AP_Motors_Class.h.

Referenced by AC_PosControl::init_takeoff(), DataFlash_Class::Log_Write_Rate(), AP_MotorsTailsitter::output_armed_stabilizing(), AP_MotorsMatrix::output_armed_stabilizing(), AP_MotorsCoax::output_armed_stabilizing(), AP_MotorsSingle::output_armed_stabilizing(), AP_MotorsTri::output_armed_stabilizing(), AP_MotorsHeli::output_armed_stabilizing(), AP_MotorsHeli::output_armed_zero_throttle(), AP_MotorsMulticopter::output_boost_throttle(), AP_MotorsHeli::output_disarmed(), AP_MotorsMulticopter::output_logic(), and AP_MotorsMulticopter::update_throttle_hover().

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◆ get_throttle_bidirectional()

float AP_Motors::get_throttle_bidirectional ( ) const

inline

Definition at line 93 of file AP_Motors_Class.h.

Referenced by AP_Motors6DOF::output_armed_stabilizing(), AP_Motors6DOF::output_armed_stabilizing_vectored(), and AP_Motors6DOF::output_armed_stabilizing_vectored_6dof().

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◆ get_throttle_hover()

virtual float AP_Motors::get_throttle_hover ( ) const

pure virtual

Implemented in AP_MotorsHeli, and AP_MotorsMulticopter.

Referenced by get_lateral(), AC_AttitudeControl_Sub::get_throttle_avg_max(), AC_AttitudeControl_Multi::get_throttle_avg_max(), AC_PosControl::init_takeoff(), AC_AttitudeControl::max_rate_step_bf_pitch(), AC_AttitudeControl::max_rate_step_bf_roll(), AC_AttitudeControl::max_rate_step_bf_yaw(), AC_PosControl::relax_alt_hold_controllers(), and AC_PosControl::run_z_controller().

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◆ get_yaw()

float AP_Motors::get_yaw ( ) const

inline

Definition at line 91 of file AP_Motors_Class.h.

Referenced by DataFlash_Class::Log_Write_Rate().

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◆ init()

virtual void AP_Motors::init	(	motor_frame_class	frame_class,
		motor_frame_type	frame_type
	)

pure virtual

Implemented in AP_MotorsHeli, AP_MotorsCoax, AP_MotorsSingle, AP_MotorsTri, and AP_MotorsTailsitter.

Referenced by set_update_rate().

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◆ initialised_ok()

bool AP_Motors::initialised_ok ( ) const

inline

Definition at line 66 of file AP_Motors_Class.h.

◆ output()

virtual void AP_Motors::output ( )

pure virtual

Implemented in AP_MotorsHeli, and AP_MotorsMulticopter.

Referenced by set_update_rate().

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◆ output_armed_stabilizing()

virtual void AP_Motors::output_armed_stabilizing ( )

protectedpure virtual

Implemented in AP_MotorsHeli, AP_Motors6DOF, AP_MotorsCoax, AP_MotorsSingle, AP_MotorsTri, AP_MotorsMatrix, and AP_MotorsTailsitter.

Referenced by get_pwm_type(), and AP_MotorsMulticopter::output().

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◆ output_min()

virtual void AP_Motors::output_min ( )

pure virtual

Implemented in AP_MotorsHeli, AP_MotorsMulticopter, and AP_Motors6DOF.

Referenced by set_update_rate().

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◆ output_test()

virtual void AP_Motors::output_test	(	uint8_t	motor_seq,
		int16_t	pwm
	)

pure virtual

Implemented in AP_MotorsHeli, AP_MotorsHeli_Single, AP_MotorsHeli_Dual, AP_MotorsCoax, AP_MotorsSingle, AP_MotorsTri, AP_MotorsHeli_Quad, AP_MotorsMatrix, and AP_MotorsTailsitter.

Referenced by set_update_rate().

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◆ rc_map_mask()

uint32_t AP_Motors::rc_map_mask ( uint32_t mask ) const

protectedvirtual

Definition at line 151 of file AP_Motors_Class.cpp.

Referenced by AP_MotorsMatrix::get_motor_mask(), AP_MotorsTri::get_motor_mask(), AP_MotorsCoax::get_motor_mask(), AP_MotorsSingle::get_motor_mask(), AP_MotorsHeli_Single::get_motor_mask(), get_pwm_type(), and rc_set_freq().

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◆ rc_set_freq()

void AP_Motors::rc_set_freq	(	uint32_t	mask,
		uint16_t	freq_hz
	)

protectedvirtual

Definition at line 105 of file AP_Motors_Class.cpp.

Referenced by get_pwm_type(), AP_MotorsMatrix::set_update_rate(), AP_MotorsTri::set_update_rate(), AP_MotorsHeli_Quad::set_update_rate(), AP_MotorsSingle::set_update_rate(), AP_MotorsCoax::set_update_rate(), AP_MotorsHeli_Dual::set_update_rate(), and AP_MotorsHeli_Single::set_update_rate().

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◆ rc_write()

void AP_Motors::rc_write	(	uint8_t	chan,
		uint16_t	pwm
	)

protectedvirtual

Definition at line 87 of file AP_Motors_Class.cpp.

Referenced by get_pwm_type(), AP_MotorsHeli_Quad::move_actuators(), AP_MotorsHeli_Dual::move_actuators(), AP_MotorsHeli_Single::move_actuators(), AP_MotorsHeli_Single::move_yaw(), AP_Motors6DOF::output_min(), AP_MotorsTri::output_motor_mask(), AP_MotorsMulticopter::output_motor_mask(), AP_MotorsMatrix::output_test(), AP_MotorsHeli_Quad::output_test(), AP_MotorsTri::output_test(), AP_MotorsCoax::output_test(), AP_MotorsSingle::output_test(), AP_MotorsHeli_Dual::output_test(), AP_MotorsHeli_Single::output_test(), AP_MotorsMatrix::output_to_motors(), AP_MotorsTri::output_to_motors(), AP_Motors6DOF::output_to_motors(), AP_MotorsCoax::output_to_motors(), AP_MotorsSingle::output_to_motors(), AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(), and AP_MotorsHeli_Single::write_aux().

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◆ rc_write_angle()

void AP_Motors::rc_write_angle	(	uint8_t	chan,
		int16_t	angle_cd
	)

protectedvirtual

Definition at line 96 of file AP_Motors_Class.cpp.

Referenced by get_pwm_type(), AP_MotorsSingle::output_to_motors(), and AP_MotorsCoax::output_to_motors().

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◆ save_params_on_disarm()

virtual void AP_Motors::save_params_on_disarm ( )

inlineprotectedvirtual

Reimplemented in AP_MotorsMulticopter.

Definition at line 179 of file AP_Motors_Class.h.

Referenced by armed().

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◆ set_air_density_ratio()

void AP_Motors::set_air_density_ratio ( float ratio )

inline

Definition at line 110 of file AP_Motors_Class.h.

◆ set_desired_spool_state()

virtual void AP_Motors::set_desired_spool_state ( enum spool_up_down_desired spool )

inlinevirtual

Definition at line 105 of file AP_Motors_Class.h.

Referenced by AP_MotorsMulticopter::output_min(), and stability_test().

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◆ set_forward()

void AP_Motors::set_forward ( float forward_in )

inline

Definition at line 85 of file AP_Motors_Class.h.

◆ set_frame_class_and_type()

virtual void AP_Motors::set_frame_class_and_type	(	motor_frame_class	frame_class,
		motor_frame_type	frame_type
	)

pure virtual

Implemented in AP_MotorsHeli, AP_MotorsCoax, AP_MotorsSingle, AP_MotorsTri, and AP_MotorsTailsitter.

Referenced by set_update_rate().

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◆ set_interlock()

void AP_Motors::set_interlock ( bool set )

inline

Definition at line 73 of file AP_Motors_Class.h.

Referenced by stability_test().

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◆ set_lateral()

void AP_Motors::set_lateral ( float lateral_in )

inline

Definition at line 86 of file AP_Motors_Class.h.

◆ set_loop_rate()

void AP_Motors::set_loop_rate ( uint16_t loop_rate )

inline

Definition at line 152 of file AP_Motors_Class.h.

◆ set_pitch()

void AP_Motors::set_pitch ( float pitch_in )

inline

Definition at line 80 of file AP_Motors_Class.h.

Referenced by AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl_Sub::rate_controller_run(), AC_AttitudeControl_Heli::rate_controller_run(), AC_AttitudeControl_Multi::rate_controller_run(), and stability_test().

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◆ set_radio_passthrough()

void AP_Motors::set_radio_passthrough	(	float	roll_input,
		float	pitch_input,
		float	throttle_input,
		float	yaw_input
	)

Definition at line 76 of file AP_Motors_Class.cpp.

Referenced by set_update_rate().

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◆ set_roll()

void AP_Motors::set_roll ( float roll_in )

inline

Definition at line 79 of file AP_Motors_Class.h.

Referenced by AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(), AC_AttitudeControl_Sub::rate_controller_run(), AC_AttitudeControl_Heli::rate_controller_run(), AC_AttitudeControl_Multi::rate_controller_run(), and stability_test().

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◆ set_throttle()

void AP_Motors::set_throttle ( float throttle_in )

inline

Definition at line 82 of file AP_Motors_Class.h.

Referenced by AC_AttitudeControl_Sub::set_throttle_out(), AC_AttitudeControl_Multi::set_throttle_out(), AC_AttitudeControl_Heli::set_throttle_out(), AC_AttitudeControl::set_throttle_out_unstabilized(), and stability_test().

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◆ set_throttle_avg_max()

void AP_Motors::set_throttle_avg_max ( float throttle_avg_max )

inline

Definition at line 83 of file AP_Motors_Class.h.

Referenced by AC_AttitudeControl_Sub::set_throttle_out(), AC_AttitudeControl_Multi::set_throttle_out(), and setup().

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◆ set_throttle_filter_cutoff()

void AP_Motors::set_throttle_filter_cutoff ( float filt_hz )

inline

Definition at line 84 of file AP_Motors_Class.h.

Referenced by AC_AttitudeControl_Sub::set_throttle_out(), AC_AttitudeControl_Multi::set_throttle_out(), AC_AttitudeControl_Heli::set_throttle_out(), and AC_AttitudeControl::set_throttle_out_unstabilized().

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◆ set_update_rate()

virtual void AP_Motors::set_update_rate ( uint16_t speed_hz )

inlinevirtual

Reimplemented in AP_MotorsHeli, AP_MotorsHeli_Single, AP_MotorsHeli_Dual, AP_MotorsCoax, AP_MotorsSingle, AP_MotorsHeli_Quad, AP_MotorsTri, AP_MotorsMatrix, and AP_MotorsTailsitter.

Definition at line 125 of file AP_Motors_Class.h.

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◆ set_yaw()

void AP_Motors::set_yaw ( float yaw_in )

inline

Definition at line 81 of file AP_Motors_Class.h.

Referenced by AC_AttitudeControl_Sub::rate_controller_run(), AC_AttitudeControl_Heli::rate_controller_run(), AC_AttitudeControl_Multi::rate_controller_run(), and stability_test().

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◆ update_throttle_filter()

virtual void AP_Motors::update_throttle_filter ( )

protectedpure virtual

Implemented in AP_MotorsHeli, and AP_MotorsMulticopter.

Referenced by get_pwm_type().

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Member Data Documentation

◆ _air_density_ratio

float AP_Motors::_air_density_ratio

protected

Definition at line 208 of file AP_Motors_Class.h.

Referenced by AP_MotorsMulticopter::get_compensation_gain(), and set_air_density_ratio().

◆ _flags

◆ _forward_in

float AP_Motors::_forward_in

protected

Definition at line 201 of file AP_Motors_Class.h.

Referenced by get_forward(), AP_Motors6DOF::output_armed_stabilizing(), AP_Motors6DOF::output_armed_stabilizing_vectored(), AP_Motors6DOF::output_armed_stabilizing_vectored_6dof(), and set_forward().

◆ _instance

AP_Motors * AP_Motors::_instance

staticprivate

Definition at line 222 of file AP_Motors_Class.h.

Referenced by AP_Motors(), and get_instance().

◆ _lateral_in

float AP_Motors::_lateral_in

protected

Definition at line 202 of file AP_Motors_Class.h.

Referenced by get_lateral(), AP_Motors6DOF::output_armed_stabilizing(), AP_Motors6DOF::output_armed_stabilizing_vectored(), AP_Motors6DOF::output_armed_stabilizing_vectored_6dof(), and set_lateral().

◆ _loop_rate

uint16_t AP_Motors::_loop_rate

protected

Definition at line 195 of file AP_Motors_Class.h.

Referenced by AP_MotorsMulticopter::get_current_limit_max_throttle(), AP_Motors6DOF::output_armed_stabilizing(), AP_MotorsMulticopter::output_logic(), AP_MotorsHeli_Dual::servo_test(), AP_MotorsHeli_Single::servo_test(), set_loop_rate(), AP_MotorsMulticopter::update_lift_max_from_batt_voltage(), AP_MotorsMulticopter::update_throttle_filter(), and AP_MotorsHeli::update_throttle_filter().

◆ _motor_fast_mask

uint16_t AP_Motors::_motor_fast_mask

protected

Definition at line 211 of file AP_Motors_Class.h.

Referenced by rc_set_freq().

◆ _pitch_in

float AP_Motors::_pitch_in

protected

Definition at line 198 of file AP_Motors_Class.h.

◆ _pitch_radio_passthrough

float AP_Motors::_pitch_radio_passthrough

protected

Definition at line 215 of file AP_Motors_Class.h.

Referenced by AP_MotorsHeli::output_disarmed(), AP_MotorsSingle::output_to_motors(), AP_MotorsCoax::output_to_motors(), and set_radio_passthrough().

◆ _pwm_type

AP_Int8 AP_Motors::_pwm_type

protected

Definition at line 219 of file AP_Motors_Class.h.

Referenced by get_pwm_type(), and rc_set_freq().

◆ _roll_in

float AP_Motors::_roll_in

protected

Definition at line 197 of file AP_Motors_Class.h.

◆ _roll_radio_passthrough

float AP_Motors::_roll_radio_passthrough

protected

Definition at line 214 of file AP_Motors_Class.h.

Referenced by AP_MotorsHeli::output_disarmed(), AP_MotorsSingle::output_to_motors(), AP_MotorsCoax::output_to_motors(), and set_radio_passthrough().

◆ _speed_hz

uint16_t AP_Motors::_speed_hz

protected

Definition at line 196 of file AP_Motors_Class.h.

Referenced by AP_MotorsMatrix::init(), AP_MotorsTri::init(), AP_MotorsHeli::init(), AP_MotorsMatrix::set_frame_class_and_type(), AP_MotorsMatrix::set_update_rate(), AP_MotorsTri::set_update_rate(), AP_MotorsHeli_Quad::set_update_rate(), AP_MotorsSingle::set_update_rate(), AP_MotorsCoax::set_update_rate(), AP_MotorsHeli_Dual::set_update_rate(), AP_MotorsHeli_Single::set_update_rate(), and set_update_rate().

◆ _spool_desired

spool_up_down_desired AP_Motors::_spool_desired

protected

Definition at line 205 of file AP_Motors_Class.h.

Referenced by get_desired_spool_state(), AP_MotorsMulticopter::output_logic(), and set_desired_spool_state().

◆ _throttle_avg_max

float AP_Motors::_throttle_avg_max

protected

Definition at line 203 of file AP_Motors_Class.h.

Referenced by AP_MotorsMatrix::output_armed_stabilizing(), AP_MotorsTri::output_armed_stabilizing(), AP_MotorsSingle::output_armed_stabilizing(), AP_MotorsCoax::output_armed_stabilizing(), and set_throttle_avg_max().

◆ _throttle_filter

LowPassFilterFloat AP_Motors::_throttle_filter

protected

Definition at line 204 of file AP_Motors_Class.h.

Referenced by AP_Motors(), get_throttle(), get_throttle_bidirectional(), AP_MotorsHeli::output_disarmed(), AP_MotorsHeli_Dual::servo_test(), AP_MotorsHeli_Single::servo_test(), set_throttle_filter_cutoff(), AP_MotorsMulticopter::update_throttle_filter(), and AP_MotorsHeli::update_throttle_filter().

◆ _throttle_in

float AP_Motors::_throttle_in

protected

Definition at line 200 of file AP_Motors_Class.h.

Referenced by set_throttle(), AP_MotorsMulticopter::update_throttle_filter(), and AP_MotorsHeli::update_throttle_filter().

◆ _throttle_radio_passthrough

float AP_Motors::_throttle_radio_passthrough

protected

Definition at line 216 of file AP_Motors_Class.h.

Referenced by AP_MotorsHeli::init(), AP_MotorsHeli::output_disarmed(), and set_radio_passthrough().

◆ _yaw_in

float AP_Motors::_yaw_in

protected

Definition at line 199 of file AP_Motors_Class.h.

◆ _yaw_radio_passthrough

float AP_Motors::_yaw_radio_passthrough

protected

Definition at line 217 of file AP_Motors_Class.h.

Referenced by AP_MotorsHeli::output_disarmed(), and set_radio_passthrough().

◆ limit

struct AP_Motors::AP_Motors_limit AP_Motors::limit

The documentation for this class was generated from the following files:

libraries/AP_Motors/AP_Motors_Class.h
libraries/AP_Motors/AP_Motors_Class.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ motor_frame_class

◆ motor_frame_type

◆ pwm_type

◆ spool_up_down_desired

Constructor & Destructor Documentation

◆ AP_Motors()

Member Function Documentation

◆ add_motor_num()

◆ armed() [1/2]

◆ armed() [2/2]

◆ calc_pwm_output_0to1()

◆ calc_pwm_output_1to1()

◆ get_desired_spool_state()

◆ get_forward()

◆ get_instance()

◆ get_interlock()

◆ get_lateral()

◆ get_motor_mask()

◆ get_pitch()

◆ get_pwm_type()

◆ get_roll()

◆ get_throttle()

◆ get_throttle_bidirectional()

◆ get_throttle_hover()

◆ get_yaw()

◆ init()

◆ initialised_ok()

◆ output()

◆ output_armed_stabilizing()

◆ output_min()

◆ output_test()

◆ rc_map_mask()

◆ rc_set_freq()

◆ rc_write()

◆ rc_write_angle()

◆ save_params_on_disarm()

◆ set_air_density_ratio()

◆ set_desired_spool_state()

◆ set_forward()

◆ set_frame_class_and_type()

◆ set_interlock()

◆ set_lateral()

◆ set_loop_rate()

◆ set_pitch()

◆ set_radio_passthrough()

◆ set_roll()

◆ set_throttle()

◆ set_throttle_avg_max()

◆ set_throttle_filter_cutoff()

◆ set_update_rate()

◆ set_yaw()

◆ update_throttle_filter()

Member Data Documentation

◆ _air_density_ratio

◆ _flags

◆ _forward_in

◆ _instance

◆ _lateral_in

◆ _loop_rate

◆ _motor_fast_mask

◆ _pitch_in

◆ _pitch_radio_passthrough

◆ _pwm_type

◆ _roll_in

◆ _roll_radio_passthrough

◆ _speed_hz

◆ _spool_desired

◆ _throttle_avg_max

◆ _throttle_filter

◆ _throttle_in