#include <AP_MotorsHeli_Dual.h>

Inheritance diagram for AP_MotorsHeli_Dual:

Collaboration diagram for AP_MotorsHeli_Dual:

Public Member Functions
	AP_MotorsHeli_Dual (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_HELI_SPEED_DEFAULT)

void	set_update_rate (uint16_t speed_hz) override

void	output_test (uint8_t motor_seq, int16_t pwm) override

void	set_desired_rotor_speed (float desired_speed) override

float	get_main_rotor_speed () const override

float	get_desired_rotor_speed () const override

bool	rotor_speed_above_critical () const override

void	calculate_scalars () override

void	calculate_armed_scalars () override

uint16_t	get_motor_mask () override

bool	has_flybar () const override

bool	supports_yaw_passthrough () const override

void	servo_test () override

Public Member Functions inherited from AP_MotorsHeli
	AP_MotorsHeli (uint16_t loop_rate, uint16_t speed_hz=AP_MOTORS_HELI_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	output_min ()

virtual bool	parameter_check (bool display_msg) const

void	set_collective_for_landing (bool landing)

void	set_inverted_flight (bool inverted)

uint8_t	get_rsc_mode () const

float	get_rsc_setpoint () const

bool	rotor_runup_complete () const

virtual void	set_acro_tail (bool set)

virtual void	ext_gyro_gain (float gain)

void	output ()

float	get_throttle_hover () const

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)

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_MotorsHeli
static const struct AP_Param::GroupInfo	var_info []

Protected Member Functions
bool	init_outputs () override

void	update_motor_control (RotorControlState state) override

void	calculate_roll_pitch_collective_factors () override

void	move_actuators (float roll_out, float pitch_out, float coll_in, float yaw_out) override

Protected Member Functions inherited from AP_MotorsHeli
void	output_armed_stabilizing ()

void	output_armed_zero_throttle ()

void	output_disarmed ()

void	reset_flight_controls ()

void	update_throttle_filter ()

void	reset_swash_servo (SRV_Channel *servo)

int16_t	calc_pwm_output_1to1_swash_servo (float input, const SRV_Channel *servo)

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)

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
AP_MotorsHeli_RSC	_rotor

float	_oscillate_angle = 0.0f

float	_servo_test_cycle_time = 0.0f

float	_collective_test = 0.0f

float	_roll_test = 0.0f

float	_pitch_test = 0.0f

AP_Int16	_collective2_min

AP_Int16	_collective2_max

AP_Int16	_collective2_mid

AP_Int16	_servo1_pos

AP_Int16	_servo2_pos

AP_Int16	_servo3_pos

AP_Int16	_servo4_pos

AP_Int16	_servo5_pos

AP_Int16	_servo6_pos

AP_Int8	_collective_direction

AP_Int16	_swash1_phase_angle

AP_Int16	_swash2_phase_angle

AP_Int8	_dual_mode

AP_Float	_dcp_scaler

AP_Float	_dcp_yaw_effect

AP_Float	_yaw_scaler

SRV_Channel *	_swash_servo_1

SRV_Channel *	_swash_servo_2

SRV_Channel *	_swash_servo_3

SRV_Channel *	_swash_servo_4

SRV_Channel *	_swash_servo_5

SRV_Channel *	_swash_servo_6

float	_collective2_mid_pct = 0.0f

float	_rollFactor [AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

float	_pitchFactor [AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

float	_collectiveFactor [AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

float	_yawFactor [AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

Protected Attributes inherited from AP_MotorsHeli
struct AP_MotorsHeli::heliflags_type	_heliflags

AP_Int16	_cyclic_max

AP_Int16	_collective_min

AP_Int16	_collective_max

AP_Int16	_collective_mid

AP_Int8	_servo_mode

AP_Int16	_rsc_setpoint

AP_Int8	_rsc_mode

AP_Int8	_rsc_ramp_time

AP_Int8	_rsc_runup_time

AP_Int16	_land_collective_min

AP_Int16	_rsc_critical

AP_Int16	_rsc_idle_output

AP_Int16	_rsc_thrcrv [5]

AP_Int16	_rsc_slewrate

AP_Int8	_servo_test

float	_collective_mid_pct = 0.0f

uint8_t	_servo_test_cycle_counter = 0

motor_frame_type	_frame_type

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
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 }

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_MotorsHeli
enum	ServoControlModes { SERVO_CONTROL_MODE_AUTOMATED = 0, SERVO_CONTROL_MODE_MANUAL_PASSTHROUGH, SERVO_CONTROL_MODE_MANUAL_MAX, SERVO_CONTROL_MODE_MANUAL_CENTER, SERVO_CONTROL_MODE_MANUAL_MIN, SERVO_CONTROL_MODE_MANUAL_OSCILLATE }

Detailed Description

Definition at line 46 of file AP_MotorsHeli_Dual.h.

Constructor & Destructor Documentation

◆ AP_MotorsHeli_Dual()

AP_MotorsHeli_Dual::AP_MotorsHeli_Dual	(	uint16_t	loop_rate,
		uint16_t	speed_hz = `AP_MOTORS_HELI_SPEED_DEFAULT`
	)

inline

Definition at line 49 of file AP_MotorsHeli_Dual.h.

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Member Function Documentation

◆ calculate_armed_scalars()

void AP_MotorsHeli_Dual::calculate_armed_scalars ( )

overridevirtual

Implements AP_MotorsHeli.

Definition at line 268 of file AP_MotorsHeli_Dual.cpp.

Referenced by calculate_scalars(), and rotor_speed_above_critical().

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◆ calculate_roll_pitch_collective_factors()

void AP_MotorsHeli_Dual::calculate_roll_pitch_collective_factors ( )

overrideprotectedvirtual

Implements AP_MotorsHeli.

Definition at line 314 of file AP_MotorsHeli_Dual.cpp.

Referenced by calculate_scalars().

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◆ calculate_scalars()

void AP_MotorsHeli_Dual::calculate_scalars ( )

overridevirtual

Implements AP_MotorsHeli.

Definition at line 282 of file AP_MotorsHeli_Dual.cpp.

Referenced by rotor_speed_above_critical().

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◆ get_desired_rotor_speed()

float AP_MotorsHeli_Dual::get_desired_rotor_speed ( ) const

inlineoverridevirtual

Implements AP_MotorsHeli.

Definition at line 71 of file AP_MotorsHeli_Dual.h.

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◆ get_main_rotor_speed()

float AP_MotorsHeli_Dual::get_main_rotor_speed ( ) const

inlineoverridevirtual

Implements AP_MotorsHeli.

Definition at line 68 of file AP_MotorsHeli_Dual.h.

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◆ get_motor_mask()

uint16_t AP_MotorsHeli_Dual::get_motor_mask ( )

overridevirtual

Implements AP_MotorsHeli.

Definition at line 384 of file AP_MotorsHeli_Dual.cpp.

Referenced by rotor_speed_above_critical().

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◆ has_flybar()

bool AP_MotorsHeli_Dual::has_flybar ( ) const

inlineoverridevirtual

Reimplemented from AP_MotorsHeli.

Definition at line 86 of file AP_MotorsHeli_Dual.h.

◆ init_outputs()

bool AP_MotorsHeli_Dual::init_outputs ( )

overrideprotectedvirtual

Implements AP_MotorsHeli.

Definition at line 184 of file AP_MotorsHeli_Dual.cpp.

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◆ move_actuators()

void AP_MotorsHeli_Dual::move_actuators	(	float	roll_out,
		float	pitch_out,
		float	coll_in,
		float	yaw_out
	)

overrideprotectedvirtual

Implements AP_MotorsHeli.

Definition at line 416 of file AP_MotorsHeli_Dual.cpp.

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◆ output_test()

void AP_MotorsHeli_Dual::output_test	(	uint8_t	motor_seq,
		int16_t	pwm
	)

overridevirtual

Implements AP_MotorsHeli.

Definition at line 218 of file AP_MotorsHeli_Dual.cpp.

Referenced by AP_MotorsHeli_Dual().

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◆ rotor_speed_above_critical()

bool AP_MotorsHeli_Dual::rotor_speed_above_critical ( ) const

inlineoverridevirtual

Implements AP_MotorsHeli.

Definition at line 74 of file AP_MotorsHeli_Dual.h.

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◆ servo_test()

void AP_MotorsHeli_Dual::servo_test ( )

overridevirtual

Implements AP_MotorsHeli.

Definition at line 542 of file AP_MotorsHeli_Dual.cpp.

Referenced by supports_yaw_passthrough().

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◆ set_desired_rotor_speed()

void AP_MotorsHeli_Dual::set_desired_rotor_speed ( float desired_speed )

overridevirtual

Implements AP_MotorsHeli.

Definition at line 262 of file AP_MotorsHeli_Dual.cpp.

Referenced by AP_MotorsHeli_Dual().

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◆ set_update_rate()

void AP_MotorsHeli_Dual::set_update_rate ( uint16_t speed_hz )

overridevirtual

Implements AP_MotorsHeli.

Definition at line 166 of file AP_MotorsHeli_Dual.cpp.

Referenced by AP_MotorsHeli_Dual().

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◆ supports_yaw_passthrough()

bool AP_MotorsHeli_Dual::supports_yaw_passthrough ( ) const

inlineoverridevirtual

Reimplemented from AP_MotorsHeli.

Definition at line 89 of file AP_MotorsHeli_Dual.h.

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◆ update_motor_control()

void AP_MotorsHeli_Dual::update_motor_control ( RotorControlState state )

overrideprotectedvirtual

Implements AP_MotorsHeli.

Definition at line 391 of file AP_MotorsHeli_Dual.cpp.

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Member Data Documentation

◆ _collective2_max

AP_Int16 AP_MotorsHeli_Dual::_collective2_max

protected

Definition at line 123 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_scalars(), and move_actuators().

◆ _collective2_mid

AP_Int16 AP_MotorsHeli_Dual::_collective2_mid

protected

Definition at line 124 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_scalars().

◆ _collective2_mid_pct

float AP_MotorsHeli_Dual::_collective2_mid_pct = 0.0f

protected

Definition at line 147 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_scalars(), and move_actuators().

◆ _collective2_min

AP_Int16 AP_MotorsHeli_Dual::_collective2_min

protected

Definition at line 122 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_scalars(), and move_actuators().

◆ _collective_direction

AP_Int8 AP_MotorsHeli_Dual::_collective_direction

protected

Definition at line 131 of file AP_MotorsHeli_Dual.h.

Referenced by move_actuators().

◆ _collective_test

float AP_MotorsHeli_Dual::_collective_test = 0.0f

protected

Definition at line 117 of file AP_MotorsHeli_Dual.h.

Referenced by servo_test().

◆ _collectiveFactor

float AP_MotorsHeli_Dual::_collectiveFactor[AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

protected

Definition at line 150 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors(), and move_actuators().

◆ _dcp_scaler

AP_Float AP_MotorsHeli_Dual::_dcp_scaler

protected

Definition at line 135 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _dcp_yaw_effect

AP_Float AP_MotorsHeli_Dual::_dcp_yaw_effect

protected

Definition at line 136 of file AP_MotorsHeli_Dual.h.

Referenced by move_actuators().

◆ _dual_mode

AP_Int8 AP_MotorsHeli_Dual::_dual_mode

protected

Definition at line 134 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors(), and move_actuators().

◆ _oscillate_angle

float AP_MotorsHeli_Dual::_oscillate_angle = 0.0f

protected

Definition at line 115 of file AP_MotorsHeli_Dual.h.

Referenced by servo_test().

◆ _pitch_test

float AP_MotorsHeli_Dual::_pitch_test = 0.0f

protected

Definition at line 119 of file AP_MotorsHeli_Dual.h.

Referenced by servo_test().

◆ _pitchFactor

float AP_MotorsHeli_Dual::_pitchFactor[AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

protected

Definition at line 149 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors(), and move_actuators().

◆ _roll_test

float AP_MotorsHeli_Dual::_roll_test = 0.0f

protected

Definition at line 118 of file AP_MotorsHeli_Dual.h.

Referenced by servo_test().

◆ _rollFactor

float AP_MotorsHeli_Dual::_rollFactor[AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

protected

Definition at line 148 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors(), and move_actuators().

◆ _rotor

AP_MotorsHeli_RSC AP_MotorsHeli_Dual::_rotor

protected

Definition at line 112 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_armed_scalars(), calculate_scalars(), get_desired_rotor_speed(), get_main_rotor_speed(), init_outputs(), move_actuators(), rotor_speed_above_critical(), set_desired_rotor_speed(), and update_motor_control().

◆ _servo1_pos

AP_Int16 AP_MotorsHeli_Dual::_servo1_pos

protected

Definition at line 125 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _servo2_pos

AP_Int16 AP_MotorsHeli_Dual::_servo2_pos

protected

Definition at line 126 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _servo3_pos

AP_Int16 AP_MotorsHeli_Dual::_servo3_pos

protected

Definition at line 127 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _servo4_pos

AP_Int16 AP_MotorsHeli_Dual::_servo4_pos

protected

Definition at line 128 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _servo5_pos

AP_Int16 AP_MotorsHeli_Dual::_servo5_pos

protected

Definition at line 129 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _servo6_pos

AP_Int16 AP_MotorsHeli_Dual::_servo6_pos

protected

Definition at line 130 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _servo_test_cycle_time

float AP_MotorsHeli_Dual::_servo_test_cycle_time = 0.0f

protected

Definition at line 116 of file AP_MotorsHeli_Dual.h.

Referenced by servo_test().

◆ _swash1_phase_angle

AP_Int16 AP_MotorsHeli_Dual::_swash1_phase_angle

protected

Definition at line 132 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _swash2_phase_angle

AP_Int16 AP_MotorsHeli_Dual::_swash2_phase_angle

protected

Definition at line 133 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _swash_servo_1

SRV_Channel* AP_MotorsHeli_Dual::_swash_servo_1

protected

Definition at line 139 of file AP_MotorsHeli_Dual.h.

Referenced by init_outputs(), and move_actuators().

◆ _swash_servo_2

SRV_Channel* AP_MotorsHeli_Dual::_swash_servo_2

protected

Definition at line 140 of file AP_MotorsHeli_Dual.h.

Referenced by init_outputs(), and move_actuators().

◆ _swash_servo_3

SRV_Channel* AP_MotorsHeli_Dual::_swash_servo_3

protected

Definition at line 141 of file AP_MotorsHeli_Dual.h.

Referenced by init_outputs(), and move_actuators().

◆ _swash_servo_4

SRV_Channel* AP_MotorsHeli_Dual::_swash_servo_4

protected

Definition at line 142 of file AP_MotorsHeli_Dual.h.

Referenced by init_outputs(), and move_actuators().

◆ _swash_servo_5

SRV_Channel* AP_MotorsHeli_Dual::_swash_servo_5

protected

Definition at line 143 of file AP_MotorsHeli_Dual.h.

Referenced by init_outputs(), and move_actuators().

◆ _swash_servo_6

SRV_Channel* AP_MotorsHeli_Dual::_swash_servo_6

protected

Definition at line 144 of file AP_MotorsHeli_Dual.h.

Referenced by init_outputs(), and move_actuators().

◆ _yaw_scaler

AP_Float AP_MotorsHeli_Dual::_yaw_scaler

protected

Definition at line 137 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors().

◆ _yawFactor

float AP_MotorsHeli_Dual::_yawFactor[AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS]

protected

Definition at line 151 of file AP_MotorsHeli_Dual.h.

Referenced by calculate_roll_pitch_collective_factors(), and move_actuators().

◆ var_info

const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info

static

Definition at line 95 of file AP_MotorsHeli_Dual.h.

Referenced by AP_MotorsHeli_Dual().

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

libraries/AP_Motors/AP_MotorsHeli_Dual.h
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_MotorsHeli_Dual()

Member Function Documentation

◆ calculate_armed_scalars()

◆ calculate_roll_pitch_collective_factors()

◆ calculate_scalars()

◆ get_desired_rotor_speed()

◆ get_main_rotor_speed()

◆ get_motor_mask()

◆ has_flybar()

◆ init_outputs()

◆ move_actuators()

◆ output_test()

◆ rotor_speed_above_critical()

◆ servo_test()

◆ set_desired_rotor_speed()

◆ set_update_rate()

◆ supports_yaw_passthrough()

◆ update_motor_control()

Member Data Documentation

◆ _collective2_max

◆ _collective2_mid

◆ _collective2_mid_pct

◆ _collective2_min

◆ _collective_direction

◆ _collective_test

◆ _collectiveFactor

◆ _dcp_scaler

◆ _dcp_yaw_effect

◆ _dual_mode

◆ _oscillate_angle

◆ _pitch_test

◆ _pitchFactor

◆ _roll_test

◆ _rollFactor

◆ _rotor

◆ _servo1_pos

◆ _servo2_pos

◆ _servo3_pos

◆ _servo4_pos

◆ _servo5_pos

◆ _servo6_pos

◆ _servo_test_cycle_time

◆ _swash1_phase_angle

◆ _swash2_phase_angle

◆ _swash_servo_1

◆ _swash_servo_2

◆ _swash_servo_3

◆ _swash_servo_4

◆ _swash_servo_5

◆ _swash_servo_6

◆ _yaw_scaler

◆ _yawFactor

◆ var_info