AP_MotorsTri Class Reference

#include <AP_MotorsTri.h>

Inheritance diagram for AP_MotorsTri:

Collaboration diagram for AP_MotorsTri:

Public Member Functions
	AP_MotorsTri (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)
virtual void	output_test (uint8_t motor_seq, int16_t pwm)
virtual void	output_to_motors ()
virtual uint16_t	get_motor_mask ()
void	output_motor_mask (float thrust, uint8_t mask) override
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
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)
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

Protected Member Functions
void	output_armed_stabilizing ()
void	thrust_compensation (void) override
int16_t	calc_yaw_radio_output (float yaw_input, float yaw_input_max)
Protected Member Functions inherited from AP_MotorsMulticopter
void	output_logic ()
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	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
SRV_Channel *	_yaw_servo
float	_pivot_angle
float	_thrust_right
float	_thrust_rear
float	_thrust_left
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
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 }
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
Static Public Attributes inherited from AP_MotorsMulticopter
static const struct AP_Param::GroupInfo	var_info []
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 17 of file AP_MotorsTri.h.

Constructor & Destructor Documentation

AP_MotorsTri()

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

inline

Constructor.

Definition at line 21 of file AP_MotorsTri.h.

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Member Function Documentation

calc_yaw_radio_output()

int16_t AP_MotorsTri::calc_yaw_radio_output ( float  yaw_input, float  yaw_input_max  )

protected

Definition at line 279 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri(), and output_to_motors().

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get_motor_mask()

uint16_t AP_MotorsTri::get_motor_mask ( )

virtual

Implements AP_Motors.

Definition at line 109 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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init()

void AP_MotorsTri::init ( motor_frame_class  frame_class, motor_frame_type  frame_type  )

virtual

Implements AP_Motors.

Definition at line 29 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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output_armed_stabilizing()

void AP_MotorsTri::output_armed_stabilizing ( )

protectedvirtual

Implements AP_Motors.

Definition at line 120 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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output_motor_mask()

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

overridevirtual

Reimplemented from AP_MotorsMulticopter.

Definition at line 320 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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output_test()

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

virtual

Implements AP_Motors.

Definition at line 247 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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output_to_motors()

void AP_MotorsTri::output_to_motors ( )

virtual

Implements AP_MotorsMulticopter.

Definition at line 78 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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set_frame_class_and_type()

void AP_MotorsTri::set_frame_class_and_type ( motor_frame_class  frame_class, motor_frame_type  frame_type  )

virtual

Implements AP_Motors.

Definition at line 59 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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set_update_rate()

void AP_MotorsTri::set_update_rate ( uint16_t  speed_hz )

virtual

Reimplemented from AP_Motors.

Definition at line 65 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri(), and init().

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thrust_compensation()

void AP_MotorsTri::thrust_compensation ( void  )

overrideprotectedvirtual

Reimplemented from AP_MotorsMulticopter.

Definition at line 301 of file AP_MotorsTri.cpp.

Referenced by AP_MotorsTri().

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Member Data Documentation

_pivot_angle

float AP_MotorsTri::_pivot_angle

protected

Definition at line 65 of file AP_MotorsTri.h.

Referenced by output_armed_stabilizing(), and output_to_motors().

_thrust_left

float AP_MotorsTri::_thrust_left

protected

Definition at line 68 of file AP_MotorsTri.h.

Referenced by output_armed_stabilizing(), output_to_motors(), and thrust_compensation().

_thrust_rear

float AP_MotorsTri::_thrust_rear

protected

Definition at line 67 of file AP_MotorsTri.h.

Referenced by output_armed_stabilizing(), output_to_motors(), and thrust_compensation().

_thrust_right

float AP_MotorsTri::_thrust_right

protected

Definition at line 66 of file AP_MotorsTri.h.

Referenced by output_armed_stabilizing(), output_to_motors(), and thrust_compensation().

_yaw_servo

SRV_Channel* AP_MotorsTri::_yaw_servo

protected

Definition at line 64 of file AP_MotorsTri.h.

Referenced by calc_yaw_radio_output(), init(), output_motor_mask(), and output_to_motors().

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

• libraries/AP_Motors/AP_MotorsTri.h
• libraries/AP_Motors/AP_MotorsTri.cpp