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Code Issues Releases Activity

Flight: Support for quadcoptors. The format of this control will change to support octo's and more flexible tuning.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1544 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-06 02:58:39 +00:00 committed by peabody124
parent 01b4c5d0e3
commit 61854ac6ab
1 changed files with 34 additions and 2 deletions
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36
flight/OpenPilot/Modules/Actuator/actuator.c
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@ -265,12 +265,44 @@ static int32_t mixerFixedWingElevon(const ActuatorSettingsData* settings, const
/**
* Mixer for VTOL (quads and octo copters). Converts desired roll,pitch,yaw and throttle to servo outputs.
*
* I will probably add settings to change the weighting for each control to each motor. This will allow more
* flexible support for various motor topologies. For now hard coding in simple versions and lettings the
* scaling capabilities fix the subtlties.
*
* Also, because of how the Throttle ranges from 0 to 1, the motors should too!
*
* @return -1 if error, 0 if success
*/
static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
{
// TODO: Implement VTOL mixer
return -1;
// TODO: Implement other than quad
if(settings->VTOLMotorN == ACTUATORSETTINGS_VTOLMOTORN_NONE ||
settings->VTOLMotorS == ACTUATORSETTINGS_VTOLMOTORS_NONE ||
settings->VTOLMotorE == ACTUATORSETTINGS_VTOLMOTORE_NONE ||
settings->VTOLMotorW == ACTUATORSETTINGS_VTOLMOTORW_NONE) {
return -1;
}
// TODO: Work out sign of Yaw so we know if NS are CW or CCW
cmd->Channel[settings->VTOLMotorN] = scaleChannel(desired->Throttle + desired->Pitch + desired->Yaw,
settings->ChannelMax[settings->VTOLMotorN],
settings->ChannelMin[settings->VTOLMotorN],
settings->ChannelNeutral[settings->VTOLMotorN]);
cmd->Channel[settings->VTOLMotorS] = scaleChannel(desired->Throttle - desired->Pitch + desired->Yaw,
settings->ChannelMax[settings->VTOLMotorS],
settings->ChannelMin[settings->VTOLMotorS],
settings->ChannelNeutral[settings->VTOLMotorS]);
cmd->Channel[settings->VTOLMotorE] = scaleChannel(desired->Throttle - desired->Roll - desired->Yaw,
settings->ChannelMax[settings->VTOLMotorE],
settings->ChannelMin[settings->VTOLMotorE],
settings->ChannelNeutral[settings->VTOLMotorE]);
cmd->Channel[settings->VTOLMotorW] = scaleChannel(desired->Throttle + desired->Roll - desired->Yaw,
settings->ChannelMax[settings->VTOLMotorW],
settings->ChannelMin[settings->VTOLMotorW],
settings->ChannelNeutral[settings->VTOLMotorW]);
return 0;
}
static int32_t InterpolateCCPMCurve(float *output, float input, const float *curve)