AP_MotorsMulticopter Class Reference

#include <AP_MotorsMulticopter.h>

Inheritance diagram for AP_MotorsMulticopter:

Collaboration diagram for AP_MotorsMulticopter:

Public Types
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_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	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_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 Attributes
static const struct AP_Param::GroupInfo	var_info []

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

Protected Member Functions
void	output_logic ()
virtual void	output_to_motors ()=0
virtual void	update_throttle_filter ()
virtual float	get_current_limit_max_throttle ()
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	thrust_compensation (void)
virtual void	output_boost_throttle (void)
void	save_params_on_disarm ()
Protected Member Functions inherited from AP_Motors
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)
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_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

Detailed Description

Definition at line 33 of file AP_MotorsMulticopter.h.

Member Enumeration Documentation

HoverLearn

enum AP_MotorsMulticopter::HoverLearn

protected

Enumerator
HOVER_LEARN_DISABLED
HOVER_LEARN_ONLY
HOVER_LEARN_AND_SAVE

Definition at line 141 of file AP_MotorsMulticopter.h.

spool_up_down_mode

enum AP_MotorsMulticopter::spool_up_down_mode

Enumerator
SHUT_DOWN
SPIN_WHEN_ARMED
SPOOL_UP
THROTTLE_UNLIMITED
SPOOL_DOWN

Definition at line 57 of file AP_MotorsMulticopter.h.

Constructor & Destructor Documentation

AP_MotorsMulticopter()

AP_MotorsMulticopter::AP_MotorsMulticopter	(	uint16_t	loop_rate,
		uint16_t	speed_hz = AP_MOTORS_SPEED_DEFAULT
	)

Definition at line 190 of file AP_MotorsMulticopter.cpp.

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Member Function Documentation

apply_thrust_curve_and_volt_scaling()

float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling ( float  thrust ) const

protected

Definition at line 310 of file AP_MotorsMulticopter.cpp.

Referenced by calc_thrust_to_pwm().

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calc_spin_up_to_pwm()

int16_t AP_MotorsMulticopter::calc_spin_up_to_pwm ( ) const

protected

Definition at line 377 of file AP_MotorsMulticopter.cpp.

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

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calc_thrust_to_pwm()

int16_t AP_MotorsMulticopter::calc_thrust_to_pwm ( float  thrust_in ) const

protected

Definition at line 371 of file AP_MotorsMulticopter.cpp.

Referenced by output_motor_mask(), AP_MotorsMatrix::output_to_motors(), AP_MotorsTri::output_to_motors(), AP_MotorsCoax::output_to_motors(), and AP_MotorsSingle::output_to_motors().

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FUNCTOR_TYPEDEF()

AP_MotorsMulticopter::FUNCTOR_TYPEDEF	(	thrust_compensation_fn_t	,
		void	,
		float *	,
		uint8_t
	)

Referenced by spool_up_complete().

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get_batt_voltage_filt()

float AP_MotorsMulticopter::get_batt_voltage_filt ( ) const

inline

Definition at line 73 of file AP_MotorsMulticopter.h.

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get_compensation_gain()

float AP_MotorsMulticopter::get_compensation_gain ( ) const

protected

Definition at line 353 of file AP_MotorsMulticopter.cpp.

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

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get_current_limit_max_throttle()

float AP_MotorsMulticopter::get_current_limit_max_throttle ( )

protectedvirtual

Reimplemented in AP_Motors6DOF.

Definition at line 274 of file AP_MotorsMulticopter.cpp.

Referenced by output_logic().

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get_lift_max()

float AP_MotorsMulticopter::get_lift_max ( )

inline

Definition at line 70 of file AP_MotorsMulticopter.h.

get_pwm_output_max()

int16_t AP_MotorsMulticopter::get_pwm_output_max

(

)

const

Definition at line 392 of file AP_MotorsMulticopter.cpp.

Referenced by calc_spin_up_to_pwm(), calc_thrust_to_pwm(), set_throttle_passthrough_for_esc_calibration(), set_throttle_range(), and spool_up_complete().

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get_pwm_output_min()

int16_t AP_MotorsMulticopter::get_pwm_output_min

(

)

const

Definition at line 382 of file AP_MotorsMulticopter.cpp.

Referenced by calc_spin_up_to_pwm(), calc_thrust_to_pwm(), output_motor_mask(), AP_MotorsMatrix::output_to_motors(), AP_MotorsTri::output_to_motors(), AP_MotorsCoax::output_to_motors(), AP_MotorsSingle::output_to_motors(), set_throttle_passthrough_for_esc_calibration(), set_throttle_range(), and spool_up_complete().

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get_throttle_hover()

virtual float AP_MotorsMulticopter::get_throttle_hover ( ) const

inlinevirtual

Implements AP_Motors.

Definition at line 54 of file AP_MotorsMulticopter.h.

Referenced by get_current_limit_max_throttle().

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get_throttle_limit()

float AP_MotorsMulticopter::get_throttle_limit ( ) const

inline

Definition at line 76 of file AP_MotorsMulticopter.h.

get_throttle_thrust_max()

float AP_MotorsMulticopter::get_throttle_thrust_max ( ) const

inline

Definition at line 79 of file AP_MotorsMulticopter.h.

Referenced by AC_AttitudeControl_Sub::update_althold_lean_angle_max(), and AC_AttitudeControl_Multi::update_althold_lean_angle_max().

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output()

void AP_MotorsMulticopter::output ( )

virtual

Implements AP_Motors.

Definition at line 214 of file AP_MotorsMulticopter.cpp.

Referenced by output_min(), and update_motors().

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output_boost_throttle()

void AP_MotorsMulticopter::output_boost_throttle ( void  )

protectedvirtual

Definition at line 239 of file AP_MotorsMulticopter.cpp.

Referenced by output(), and thrust_compensation().

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output_logic()

void AP_MotorsMulticopter::output_logic ( )

protected

Definition at line 426 of file AP_MotorsMulticopter.cpp.

Referenced by output().

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output_min()

void AP_MotorsMulticopter::output_min ( )

virtual

Implements AP_Motors.

Definition at line 249 of file AP_MotorsMulticopter.cpp.

Referenced by setup().

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output_motor_mask()

void AP_MotorsMulticopter::output_motor_mask ( float  thrust, uint8_t  mask  )

virtual

Reimplemented in AP_MotorsTri.

Definition at line 604 of file AP_MotorsMulticopter.cpp.

Referenced by AP_MotorsTri::output_motor_mask(), and spool_up_complete().

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output_to_motors()

virtual void AP_MotorsMulticopter::output_to_motors ( )

protectedpure virtual

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

Referenced by output().

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save_params_on_disarm()

void AP_MotorsMulticopter::save_params_on_disarm ( )

protectedvirtual

Reimplemented from AP_Motors.

Definition at line 620 of file AP_MotorsMulticopter.cpp.

Referenced by thrust_compensation().

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set_throttle_passthrough_for_esc_calibration()

void AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration

(

float

throttle_input

)

Definition at line 588 of file AP_MotorsMulticopter.cpp.

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set_throttle_range()

void AP_MotorsMulticopter::set_throttle_range	(	int16_t	radio_min,
		int16_t	radio_max
	)

Definition at line 403 of file AP_MotorsMulticopter.cpp.

Referenced by set_yaw_headroom(), and setup().

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set_thrust_compensation_callback()

void AP_MotorsMulticopter::set_thrust_compensation_callback ( thrust_compensation_fn_t  callback )

inline

Definition at line 95 of file AP_MotorsMulticopter.h.

set_yaw_headroom()

void AP_MotorsMulticopter::set_yaw_headroom ( int16_t  pwm )

inline

Definition at line 46 of file AP_MotorsMulticopter.h.

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spool_up_complete()

bool AP_MotorsMulticopter::spool_up_complete ( ) const

inline

Definition at line 82 of file AP_MotorsMulticopter.h.

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thrust_compensation()

virtual void AP_MotorsMulticopter::thrust_compensation ( void  )

inlineprotectedvirtual

Reimplemented in AP_MotorsMatrix, and AP_MotorsTri.

Definition at line 132 of file AP_MotorsMulticopter.h.

Referenced by output().

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update_lift_max_from_batt_voltage()

void AP_MotorsMulticopter::update_lift_max_from_batt_voltage ( )

protected

Definition at line 329 of file AP_MotorsMulticopter.cpp.

Referenced by output().

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update_throttle_filter()

void AP_MotorsMulticopter::update_throttle_filter ( )

protectedvirtual

Implements AP_Motors.

Definition at line 257 of file AP_MotorsMulticopter.cpp.

Referenced by output().

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update_throttle_hover()

void AP_MotorsMulticopter::update_throttle_hover

(

float

dt

)

Definition at line 417 of file AP_MotorsMulticopter.cpp.

Referenced by set_yaw_headroom().

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Member Data Documentation

_batt_current_max

AP_Float AP_MotorsMulticopter::_batt_current_max

protected

Definition at line 155 of file AP_MotorsMulticopter.h.

Referenced by get_current_limit_max_throttle(), and AP_Motors6DOF::output_armed_stabilizing().

_batt_current_time_constant

AP_Float AP_MotorsMulticopter::_batt_current_time_constant

protected

Definition at line 156 of file AP_MotorsMulticopter.h.

Referenced by get_current_limit_max_throttle(), and AP_Motors6DOF::output_armed_stabilizing().

_batt_idx

AP_Int8 AP_MotorsMulticopter::_batt_idx

protected

Definition at line 157 of file AP_MotorsMulticopter.h.

Referenced by get_current_limit_max_throttle(), and update_lift_max_from_batt_voltage().

_batt_voltage_filt

LowPassFilterFloat AP_MotorsMulticopter::_batt_voltage_filt

protected

Definition at line 183 of file AP_MotorsMulticopter.h.

Referenced by AP_MotorsMulticopter(), apply_thrust_curve_and_volt_scaling(), get_batt_voltage_filt(), and update_lift_max_from_batt_voltage().

_batt_voltage_max

AP_Float AP_MotorsMulticopter::_batt_voltage_max

protected

Definition at line 153 of file AP_MotorsMulticopter.h.

Referenced by update_lift_max_from_batt_voltage().

_batt_voltage_min

AP_Float AP_MotorsMulticopter::_batt_voltage_min

protected

Definition at line 154 of file AP_MotorsMulticopter.h.

Referenced by get_current_limit_max_throttle(), and update_lift_max_from_batt_voltage().

_boost_scale

AP_Float AP_MotorsMulticopter::_boost_scale

protected

Definition at line 171 of file AP_MotorsMulticopter.h.

Referenced by output_boost_throttle().

_disarm_disable_pwm

AP_Int8 AP_MotorsMulticopter::_disarm_disable_pwm

protected

Definition at line 162 of file AP_MotorsMulticopter.h.

Referenced by AP_MotorsMatrix::output_to_motors().

_disarm_safety_timer

uint16_t AP_MotorsMulticopter::_disarm_safety_timer

protected

Definition at line 187 of file AP_MotorsMulticopter.h.

Referenced by output_logic(), and AP_MotorsMatrix::output_to_motors().

_lift_max

float AP_MotorsMulticopter::_lift_max

protected

Definition at line 184 of file AP_MotorsMulticopter.h.

Referenced by apply_thrust_curve_and_volt_scaling(), get_compensation_gain(), get_lift_max(), and update_lift_max_from_batt_voltage().

_pwm_max

AP_Int16 AP_MotorsMulticopter::_pwm_max

protected

Definition at line 159 of file AP_MotorsMulticopter.h.

Referenced by get_pwm_output_max(), and get_pwm_output_min().

_pwm_min

AP_Int16 AP_MotorsMulticopter::_pwm_min

protected

Definition at line 158 of file AP_MotorsMulticopter.h.

Referenced by get_pwm_output_max(), and get_pwm_output_min().

_spin_arm

AP_Float AP_MotorsMulticopter::_spin_arm

protected

Definition at line 152 of file AP_MotorsMulticopter.h.

Referenced by output_logic().

_spin_max

AP_Float AP_MotorsMulticopter::_spin_max

protected

Definition at line 151 of file AP_MotorsMulticopter.h.

Referenced by calc_thrust_to_pwm().

_spin_min

AP_Float AP_MotorsMulticopter::_spin_min

protected

Definition at line 150 of file AP_MotorsMulticopter.h.

Referenced by calc_spin_up_to_pwm(), calc_thrust_to_pwm(), output_logic(), and AP_MotorsTailsitter::output_to_motors().

_spin_up_ratio

float AP_MotorsMulticopter::_spin_up_ratio

protected

Definition at line 180 of file AP_MotorsMulticopter.h.

Referenced by calc_spin_up_to_pwm(), output_logic(), AP_MotorsTailsitter::output_to_motors(), AP_MotorsCoax::output_to_motors(), and AP_MotorsSingle::output_to_motors().

_spool_mode

spool_up_down_mode AP_MotorsMulticopter::_spool_mode

protected

Definition at line 179 of file AP_MotorsMulticopter.h.

Referenced by output_logic(), output_min(), AP_MotorsTailsitter::output_to_motors(), AP_MotorsMatrix::output_to_motors(), AP_MotorsTri::output_to_motors(), AP_Motors6DOF::output_to_motors(), AP_MotorsSingle::output_to_motors(), AP_MotorsCoax::output_to_motors(), and spool_up_complete().

_spool_up_time

AP_Float AP_MotorsMulticopter::_spool_up_time

protected

Definition at line 168 of file AP_MotorsMulticopter.h.

Referenced by output_logic().

_throttle_hover

AP_Float AP_MotorsMulticopter::_throttle_hover

protected

Definition at line 160 of file AP_MotorsMulticopter.h.

Referenced by get_throttle_hover(), AP_MotorsSingle::output_armed_stabilizing(), AP_MotorsCoax::output_armed_stabilizing(), save_params_on_disarm(), and update_throttle_hover().

_throttle_hover_learn

AP_Int8 AP_MotorsMulticopter::_throttle_hover_learn

protected

Definition at line 161 of file AP_MotorsMulticopter.h.

Referenced by save_params_on_disarm(), and update_throttle_hover().

_throttle_limit

float AP_MotorsMulticopter::_throttle_limit

protected

Definition at line 185 of file AP_MotorsMulticopter.h.

Referenced by get_current_limit_max_throttle(), and get_throttle_limit().

_throttle_radio_max

int16_t AP_MotorsMulticopter::_throttle_radio_max

protected

Definition at line 176 of file AP_MotorsMulticopter.h.

Referenced by AP_MotorsMulticopter(), AP_Motors6DOF::calc_thrust_to_pwm(), get_pwm_output_max(), and set_throttle_range().

_throttle_radio_min

int16_t AP_MotorsMulticopter::_throttle_radio_min

protected

Definition at line 175 of file AP_MotorsMulticopter.h.

Referenced by AP_MotorsMulticopter(), AP_Motors6DOF::calc_thrust_to_pwm(), get_pwm_output_min(), and set_throttle_range().

_throttle_thrust_max

float AP_MotorsMulticopter::_throttle_thrust_max

protected

Definition at line 186 of file AP_MotorsMulticopter.h.

Referenced by get_throttle_thrust_max(), AP_MotorsTailsitter::output_armed_stabilizing(), AP_MotorsMatrix::output_armed_stabilizing(), AP_MotorsTri::output_armed_stabilizing(), AP_Motors6DOF::output_armed_stabilizing(), AP_MotorsCoax::output_armed_stabilizing(), AP_MotorsSingle::output_armed_stabilizing(), AP_Motors6DOF::output_armed_stabilizing_vectored(), AP_Motors6DOF::output_armed_stabilizing_vectored_6dof(), and output_logic().

_thrust_compensation_callback

thrust_compensation_fn_t AP_MotorsMulticopter::_thrust_compensation_callback

protected

Definition at line 190 of file AP_MotorsMulticopter.h.

Referenced by set_thrust_compensation_callback(), AP_MotorsTri::thrust_compensation(), and AP_MotorsMatrix::thrust_compensation().

_thrust_curve_expo

AP_Float AP_MotorsMulticopter::_thrust_curve_expo

protected

Definition at line 149 of file AP_MotorsMulticopter.h.

Referenced by apply_thrust_curve_and_volt_scaling(), and update_lift_max_from_batt_voltage().

_yaw_headroom

AP_Int16 AP_MotorsMulticopter::_yaw_headroom

protected

Definition at line 148 of file AP_MotorsMulticopter.h.

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

_yaw_servo_angle_max_deg

AP_Float AP_MotorsMulticopter::_yaw_servo_angle_max_deg

protected

Definition at line 165 of file AP_MotorsMulticopter.h.

Referenced by AP_MotorsTri::output_armed_stabilizing(), and AP_MotorsTri::output_to_motors().

motor_enabled

bool AP_MotorsMulticopter::motor_enabled[AP_MOTORS_MAX_NUM_MOTORS]

protected

Definition at line 174 of file AP_MotorsMulticopter.h.

Referenced by AP_MotorsMatrix::add_motor_raw(), AP_MotorsMulticopter(), AP_MotorsMatrix::get_motor_mask(), AP_MotorsTri::init(), AP_MotorsCoax::init(), AP_MotorsSingle::init(), AP_MotorsMatrix::normalise_rpy_factors(), AP_MotorsMatrix::output_armed_stabilizing(), AP_Motors6DOF::output_armed_stabilizing(), AP_Motors6DOF::output_armed_stabilizing_vectored(), AP_Motors6DOF::output_armed_stabilizing_vectored_6dof(), AP_Motors6DOF::output_min(), output_motor_mask(), AP_MotorsMatrix::output_test(), AP_MotorsMatrix::output_to_motors(), AP_Motors6DOF::output_to_motors(), AP_MotorsMatrix::remove_motor(), set_throttle_passthrough_for_esc_calibration(), and AP_MotorsMatrix::set_update_rate().

var_info

const AP_Param::GroupInfo AP_MotorsMulticopter::var_info

static

Definition at line 100 of file AP_MotorsMulticopter.h.

Referenced by AP_MotorsMulticopter().

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

• libraries/AP_Motors/AP_MotorsMulticopter.h
• libraries/AP_Motors/AP_MotorsMulticopter.cpp