#include <AP_Motors6DOF.h>

Inheritance diagram for AP_Motors6DOF:

Collaboration diagram for AP_Motors6DOF:

Public Types
enum	sub_frame_t { SUB_FRAME_BLUEROV1, SUB_FRAME_VECTORED, SUB_FRAME_VECTORED_6DOF, SUB_FRAME_VECTORED_6DOF_90DEG, SUB_FRAME_SIMPLEROV_3, SUB_FRAME_SIMPLEROV_4, SUB_FRAME_SIMPLEROV_5, SUB_FRAME_CUSTOM }

Public Types inherited from AP_MotorsMulticopter
enum	spool_up_down_mode { SHUT_DOWN = 0, SPIN_WHEN_ARMED = 1, SPOOL_UP = 2, THROTTLE_UNLIMITED = 3, SPOOL_DOWN = 4 }

Public Types inherited from AP_Motors
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_Motors6DOF (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_SPEED_DEFAULT)

void	setup_motors (motor_frame_class frame_class, motor_frame_type frame_type) override

void	output_min () override

int16_t	calc_thrust_to_pwm (float thrust_in) const

void	output_to_motors () override

Public Member Functions inherited from AP_MotorsMatrix
	AP_MotorsMatrix (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_SPEED_DEFAULT)
	Constructor. More...

void	init (motor_frame_class frame_class, motor_frame_type frame_type)

void	set_frame_class_and_type (motor_frame_class frame_class, motor_frame_type frame_type)

void	set_update_rate (uint16_t speed_hz)

void	output_test (uint8_t motor_seq, int16_t pwm)

void	output_to_motors ()

uint16_t	get_motor_mask ()

Public Member Functions inherited from AP_MotorsMulticopter
	AP_MotorsMulticopter (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_SPEED_DEFAULT)

virtual void	output ()

void	output_min ()

void	set_yaw_headroom (int16_t pwm)

void	set_throttle_range (int16_t radio_min, int16_t radio_max)

void	update_throttle_hover (float dt)

virtual float	get_throttle_hover () const

void	set_throttle_passthrough_for_esc_calibration (float throttle_input)

float	get_lift_max ()

float	get_batt_voltage_filt () const

float	get_throttle_limit () const

float	get_throttle_thrust_max () const

bool	spool_up_complete () const

virtual void	output_motor_mask (float thrust, uint8_t mask)

int16_t	get_pwm_output_min () const

int16_t	get_pwm_output_max () const

	FUNCTOR_TYPEDEF (thrust_compensation_fn_t, void, float *, uint8_t)

void	set_thrust_compensation_callback (thrust_compensation_fn_t callback)

Public Member Functions inherited from AP_Motors
	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 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	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

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 Attributes
static const struct AP_Param::GroupInfo	var_info []

Static Public Attributes inherited from AP_MotorsMulticopter
static const struct AP_Param::GroupInfo	var_info []

Protected Member Functions
float	get_current_limit_max_throttle () override

void	add_motor_raw_6dof (int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, float climb_fac, float forward_fac, float lat_fac, uint8_t testing_order)

void	output_armed_stabilizing () override

void	output_armed_stabilizing_vectored ()

void	output_armed_stabilizing_vectored_6dof ()

Protected Member Functions inherited from AP_MotorsMatrix
void	output_armed_stabilizing ()

void	add_motor_raw (int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order)

void	add_motor (int8_t motor_num, float angle_degrees, float yaw_factor, uint8_t testing_order)

void	add_motor (int8_t motor_num, float roll_factor_in_degrees, float pitch_factor_in_degrees, float yaw_factor, uint8_t testing_order)

void	remove_motor (int8_t motor_num)

virtual void	setup_motors (motor_frame_class frame_class, motor_frame_type frame_type)

void	normalise_rpy_factors ()

void	thrust_compensation (void) override

Protected Member Functions inherited from AP_MotorsMulticopter
void	output_logic ()

virtual void	update_throttle_filter ()

float	apply_thrust_curve_and_volt_scaling (float thrust) const

void	update_lift_max_from_batt_voltage ()

float	get_compensation_gain () const

int16_t	calc_thrust_to_pwm (float thrust_in) const

int16_t	calc_spin_up_to_pwm () const

virtual void	output_boost_throttle (void)

void	save_params_on_disarm ()

Protected Member Functions inherited from AP_Motors
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)

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
AP_Int8	_motor_reverse [AP_MOTORS_MAX_NUM_MOTORS]

AP_Float	_forwardVerticalCouplingFactor

float	_throttle_factor [AP_MOTORS_MAX_NUM_MOTORS]

float	_forward_factor [AP_MOTORS_MAX_NUM_MOTORS]

float	_lateral_factor [AP_MOTORS_MAX_NUM_MOTORS]

float	_output_limited = 1.0f

float	_batt_current_last = 0.0f

Protected Attributes inherited from AP_MotorsMatrix
float	_roll_factor [AP_MOTORS_MAX_NUM_MOTORS]

float	_pitch_factor [AP_MOTORS_MAX_NUM_MOTORS]

float	_yaw_factor [AP_MOTORS_MAX_NUM_MOTORS]

float	_thrust_rpyt_out [AP_MOTORS_MAX_NUM_MOTORS]

uint8_t	_test_order [AP_MOTORS_MAX_NUM_MOTORS]

motor_frame_class	_last_frame_class

motor_frame_type	_last_frame_type

Protected Attributes inherited from AP_MotorsMulticopter
AP_Int16	_yaw_headroom

AP_Float	_thrust_curve_expo

AP_Float	_spin_min

AP_Float	_spin_max

AP_Float	_spin_arm

AP_Float	_batt_voltage_max

AP_Float	_batt_voltage_min

AP_Float	_batt_current_max

AP_Float	_batt_current_time_constant

AP_Int8	_batt_idx

AP_Int16	_pwm_min

AP_Int16	_pwm_max

AP_Float	_throttle_hover

AP_Int8	_throttle_hover_learn

AP_Int8	_disarm_disable_pwm

AP_Float	_yaw_servo_angle_max_deg

AP_Float	_spool_up_time

AP_Float	_boost_scale

bool	motor_enabled [AP_MOTORS_MAX_NUM_MOTORS]

int16_t	_throttle_radio_min

int16_t	_throttle_radio_max

spool_up_down_mode	_spool_mode

float	_spin_up_ratio

LowPassFilterFloat	_batt_voltage_filt

float	_lift_max

float	_throttle_limit

float	_throttle_thrust_max

uint16_t	_disarm_safety_timer

thrust_compensation_fn_t	_thrust_compensation_callback

Protected Attributes inherited from AP_Motors
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

Additional Inherited Members
Static Public Member Functions inherited from AP_Motors
static AP_Motors *	get_instance (void)

Public Attributes inherited from AP_Motors
struct AP_Motors::AP_Motors_limit	limit

Protected Types inherited from AP_MotorsMulticopter
enum	HoverLearn { HOVER_LEARN_DISABLED = 0, HOVER_LEARN_ONLY = 1, HOVER_LEARN_AND_SAVE = 2 }

Detailed Description

Definition at line 12 of file AP_Motors6DOF.h.

Member Enumeration Documentation

◆ sub_frame_t

enum AP_Motors6DOF::sub_frame_t

Enumerator
SUB_FRAME_BLUEROV1
SUB_FRAME_VECTORED
SUB_FRAME_VECTORED_6DOF
SUB_FRAME_VECTORED_6DOF_90DEG
SUB_FRAME_SIMPLEROV_3
SUB_FRAME_SIMPLEROV_4
SUB_FRAME_SIMPLEROV_5
SUB_FRAME_CUSTOM

Definition at line 21 of file AP_Motors6DOF.h.

Constructor & Destructor Documentation

◆ AP_Motors6DOF()

AP_Motors6DOF::AP_Motors6DOF	(	uint16_t	loop_rate,
		uint16_t	speed_hz = `AP_MOTORS_SPEED_DEFAULT`
	)

inline

Definition at line 15 of file AP_Motors6DOF.h.

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Member Function Documentation

◆ add_motor_raw_6dof()

void AP_Motors6DOF::add_motor_raw_6dof	(	int8_t	motor_num,
		float	roll_fac,
		float	pitch_fac,
		float	yaw_fac,
		float	climb_fac,
		float	forward_fac,
		float	lat_fac,
		uint8_t	testing_order
	)

protected

Definition at line 191 of file AP_Motors6DOF.cpp.

Referenced by setup_motors().

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◆ calc_thrust_to_pwm()

int16_t AP_Motors6DOF::calc_thrust_to_pwm ( float thrust_in ) const

Definition at line 222 of file AP_Motors6DOF.cpp.

Referenced by output_to_motors().

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◆ get_current_limit_max_throttle()

float AP_Motors6DOF::get_current_limit_max_throttle ( )

overrideprotectedvirtual

Reimplemented from AP_MotorsMulticopter.

Definition at line 270 of file AP_Motors6DOF.cpp.

◆ output_armed_stabilizing()

void AP_Motors6DOF::output_armed_stabilizing ( )

overrideprotectedvirtual

Implements AP_Motors.

Definition at line 279 of file AP_Motors6DOF.cpp.

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◆ output_armed_stabilizing_vectored()

void AP_Motors6DOF::output_armed_stabilizing_vectored ( )

protected

Definition at line 390 of file AP_Motors6DOF.cpp.

Referenced by output_armed_stabilizing().

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◆ output_armed_stabilizing_vectored_6dof()

void AP_Motors6DOF::output_armed_stabilizing_vectored_6dof ( )

protected

Definition at line 474 of file AP_Motors6DOF.cpp.

Referenced by output_armed_stabilizing().

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◆ output_min()

void AP_Motors6DOF::output_min ( )

overridevirtual

Implements AP_Motors.

Definition at line 203 of file AP_Motors6DOF.cpp.

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◆ output_to_motors()

void AP_Motors6DOF::output_to_motors ( )

overridevirtual

Implements AP_MotorsMulticopter.

Definition at line 227 of file AP_Motors6DOF.cpp.

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◆ setup_motors()

void AP_Motors6DOF::setup_motors	(	motor_frame_class	frame_class,
		motor_frame_type	frame_type
	)

override

Definition at line 124 of file AP_Motors6DOF.cpp.

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Member Data Documentation

◆ _batt_current_last

float AP_Motors6DOF::_batt_current_last = 0.0f

protected

Definition at line 68 of file AP_Motors6DOF.h.

Referenced by output_armed_stabilizing().

◆ _forward_factor

float AP_Motors6DOF::_forward_factor[AP_MOTORS_MAX_NUM_MOTORS]

protected

Definition at line 63 of file AP_Motors6DOF.h.

Referenced by add_motor_raw_6dof(), output_armed_stabilizing(), output_armed_stabilizing_vectored(), and output_armed_stabilizing_vectored_6dof().

◆ _forwardVerticalCouplingFactor

AP_Float AP_Motors6DOF::_forwardVerticalCouplingFactor

protected

Definition at line 60 of file AP_Motors6DOF.h.

Referenced by output_armed_stabilizing_vectored().

◆ _lateral_factor

float AP_Motors6DOF::_lateral_factor[AP_MOTORS_MAX_NUM_MOTORS]

protected

Definition at line 64 of file AP_Motors6DOF.h.

Referenced by add_motor_raw_6dof(), output_armed_stabilizing(), output_armed_stabilizing_vectored(), and output_armed_stabilizing_vectored_6dof().

◆ _motor_reverse

AP_Int8 AP_Motors6DOF::_motor_reverse[AP_MOTORS_MAX_NUM_MOTORS]

protected

Definition at line 59 of file AP_Motors6DOF.h.

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

◆ _output_limited

float AP_Motors6DOF::_output_limited = 1.0f

protected

Definition at line 67 of file AP_Motors6DOF.h.

Referenced by output_armed_stabilizing().

◆ _throttle_factor

float AP_Motors6DOF::_throttle_factor[AP_MOTORS_MAX_NUM_MOTORS]

protected

Definition at line 62 of file AP_Motors6DOF.h.

Referenced by add_motor_raw_6dof(), output_armed_stabilizing(), output_armed_stabilizing_vectored(), and output_armed_stabilizing_vectored_6dof().

◆ var_info

const AP_Param::GroupInfo AP_Motors6DOF::var_info

static

Definition at line 45 of file AP_Motors6DOF.h.

Referenced by AP_Motors6DOF().

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

libraries/AP_Motors/AP_Motors6DOF.h
libraries/AP_Motors/AP_Motors6DOF.cpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ sub_frame_t

Constructor & Destructor Documentation

◆ AP_Motors6DOF()

Member Function Documentation

◆ add_motor_raw_6dof()

◆ calc_thrust_to_pwm()

◆ get_current_limit_max_throttle()

◆ output_armed_stabilizing()

◆ output_armed_stabilizing_vectored()

◆ output_armed_stabilizing_vectored_6dof()

◆ output_min()

◆ output_to_motors()

◆ setup_motors()

Member Data Documentation

◆ _batt_current_last

◆ _forward_factor

◆ _forwardVerticalCouplingFactor

◆ _lateral_factor

◆ _motor_reverse

◆ _output_limited

◆ _throttle_factor

◆ var_info