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AP_Motors: TradHeli - Fixed Directdrive Variable Pitch Feature #7281

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merged 4 commits into from Jan 21, 2018
Merged

AP_Motors: TradHeli - Fixed Directdrive Variable Pitch Feature #7281

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bb6335e
mavlink: submodule update
tridge Jan 19, 2018
67eef96
AP_Motors: Tradheli - Fixed Directdrive Variable Pitch Feature
bnsgeyer Nov 26, 2017
911c60d
AP_Motors: removed unused pwm parameters for heli
tridge Jan 19, 2018
c2a3b48
AP_Motors: protect against writes to NULL servo_aux
tridge Jan 19, 2018
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22 changes: 0 additions & 22 deletions libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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Expand Up @@ -123,28 +123,6 @@ const AP_Param::GroupInfo AP_MotorsHeli_Dual::var_info[] = {
// @Increment: 0.1
AP_GROUPINFO("YAW_SCALER", 12, AP_MotorsHeli_Dual, _yaw_scaler, 1.0f),

// @Param: RSC_PWM_MIN
// @DisplayName: RSC PWM output miniumum
// @Description: This sets the PWM output on RSC channel for maximum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MIN", 13, AP_MotorsHeli_Dual, _rotor._pwm_min, 1000),

// @Param: RSC_PWM_MAX
// @DisplayName: RSC PWM output maxiumum
// @Description: This sets the PWM output on RSC channel for miniumum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MAX", 14, AP_MotorsHeli_Dual, _rotor._pwm_max, 2000),

// @Param: RSC_PWM_REV
// @DisplayName: RSC PWM reversal
// @Description: This controls reversal of the RSC channel output
// @Values: -1:Reversed,1:Normal
// @User: Standard
AP_GROUPINFO("RSC_PWM_REV", 15, AP_MotorsHeli_Dual, _rotor._pwm_rev, 1),


// @Param: COL2_MIN
// @DisplayName: Collective Pitch Minimum for rear swashplate
// @Description: Lowest possible servo position in PWM microseconds for the rear swashplate
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21 changes: 0 additions & 21 deletions libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
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Expand Up @@ -23,27 +23,6 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsHeli_Quad::var_info[] = {
AP_NESTEDGROUPINFO(AP_MotorsHeli, 0),

// @Param: RSC_PWM_MIN
// @DisplayName: RSC PWM output miniumum
// @Description: This sets the PWM output on RSC channel for maximum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MIN", 1, AP_MotorsHeli_Quad, _rotor._pwm_min, 1000),

// @Param: RSC_PWM_MAX
// @DisplayName: RSC PWM output maxiumum
// @Description: This sets the PWM output on RSC channel for miniumum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MAX", 2, AP_MotorsHeli_Quad, _rotor._pwm_max, 2000),

// @Param: RSC_PWM_REV
// @DisplayName: RSC PWM reversal
// @Description: This controls reversal of the RSC channel output
// @Values: -1:Reversed,1:Normal
// @User: Standard
AP_GROUPINFO("RSC_PWM_REV", 3, AP_MotorsHeli_Quad, _rotor._pwm_rev, 1),

AP_GROUPEND
};

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9 changes: 1 addition & 8 deletions libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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Expand Up @@ -187,13 +187,6 @@ void AP_MotorsHeli_RSC::write_rsc(float servo_out)
// ToDo: We should probably use RC_Channel_Aux to avoid this problem
return;
} else {
// calculate PWM value based on H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
uint16_t pwm = servo_out * (_pwm_max - _pwm_min);
if (_pwm_rev >= 0) {
pwm = _pwm_min + pwm;
} else {
pwm = _pwm_max - pwm;
}
SRV_Channels::set_output_pwm(_aux_fn, pwm);
SRV_Channels::set_output_scaled(_aux_fn, (uint16_t) (servo_out * 1000));
}
}
4 changes: 0 additions & 4 deletions libraries/AP_Motors/AP_MotorsHeli_RSC.h
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Expand Up @@ -103,10 +103,6 @@ class AP_MotorsHeli_RSC {
uint16_t _power_slewrate = 0; // slewrate for throttle (percentage per second)
float _load_feedforward = 0.0f; // estimate of motor load, range 0-1.0f

AP_Int16 _pwm_min;
AP_Int16 _pwm_max;
AP_Int8 _pwm_rev;

// update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
void update_rotor_ramp(float rotor_ramp_input, float dt);

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38 changes: 13 additions & 25 deletions libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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Expand Up @@ -116,27 +116,6 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @User: Standard
AP_GROUPINFO("GYR_GAIN_ACRO", 11, AP_MotorsHeli_Single, _ext_gyro_gain_acro, 0),

// @Param: RSC_PWM_MIN
// @DisplayName: RSC PWM output miniumum
// @Description: This sets the PWM output on RSC channel for maximum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MIN", 16, AP_MotorsHeli_Single, _main_rotor._pwm_min, 1000),

// @Param: RSC_PWM_MAX
// @DisplayName: RSC PWM output maxiumum
// @Description: This sets the PWM output on RSC channel for miniumum rotor speed
// @Range: 0 2000
// @User: Standard
AP_GROUPINFO("RSC_PWM_MAX", 17, AP_MotorsHeli_Single, _main_rotor._pwm_max, 2000),

// @Param: RSC_PWM_REV
// @DisplayName: RSC PWM reversal
// @Description: This controls reversal of the RSC channel output
// @Values: -1:Reversed,1:Normal
// @User: Standard
AP_GROUPINFO("RSC_PWM_REV", 18, AP_MotorsHeli_Single, _main_rotor._pwm_rev, 1),

// parameters up to and including 29 are reserved for tradheli

AP_GROUPEND
Expand Down Expand Up @@ -165,9 +144,16 @@ bool AP_MotorsHeli_Single::init_outputs()
_swash_servo_2 = SRV_Channels::get_channel_for(SRV_Channel::k_motor2, CH_2);
_swash_servo_3 = SRV_Channels::get_channel_for(SRV_Channel::k_motor3, CH_3);
_yaw_servo = SRV_Channels::get_channel_for(SRV_Channel::k_motor4, CH_4);
_servo_aux = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, CH_7);
if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo || !_servo_aux) {
return false;
if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH) {
_tail_rotor.init_servo();
if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo) {
return false;
}
} else {
_servo_aux = SRV_Channels::get_channel_for(SRV_Channel::k_motor7, CH_7);
if (!_swash_servo_1 || !_swash_servo_2 || !_swash_servo_3 || !_yaw_servo || !_servo_aux) {
return false;
}
}
}

Expand Down Expand Up @@ -494,7 +480,9 @@ void AP_MotorsHeli_Single::move_yaw(float yaw_out)
// write_aux - converts servo_out parameter value (0 to 1 range) to pwm and outputs to aux channel (ch7)
void AP_MotorsHeli_Single::write_aux(float servo_out)
{
rc_write(AP_MOTORS_HELI_SINGLE_AUX, calc_pwm_output_0to1(servo_out, _servo_aux));
if (_servo_aux) {
rc_write(AP_MOTORS_HELI_SINGLE_AUX, calc_pwm_output_0to1(servo_out, _servo_aux));
}
}

// servo_test - move servos through full range of movement
Expand Down
2 changes: 1 addition & 1 deletion modules/mavlink
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Submodule mavlink updated 4 files
+7 −7 message_definitions/v1.0/ardupilotmega.xml
+23 −23 message_definitions/v1.0/common.xml
+10 −10 message_definitions/v1.0/icarous.xml
+1 −1 pymavlink