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AP_Motors_test: add tri frames to json output #25670

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merged 2 commits into from
May 21, 2024
Merged

AP_Motors_test: add tri frames to json output #25670

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5318cf8
AP_Motors_test: add tri frames to json output
robertlong13 Nov 30, 2023
e7a6bc2
AP_MotorsTri: reverse-frame cleanup and fixes
robertlong13 Dec 11, 2023
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95 changes: 86 additions & 9 deletions libraries/AP_Motors/AP_MotorsTri.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,7 @@ void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_ty
SRV_Channels::set_angle(SRV_Channels::get_motor_function(AP_MOTORS_CH_TRI_YAW), _yaw_servo_angle_max_deg*100);

// check for reverse tricopter
if (frame_type == MOTOR_FRAME_TYPE_PLUSREV) {
_pitch_reversed = true;
}
_pitch_reversed = frame_type == MOTOR_FRAME_TYPE_PLUSREV;

_mav_type = MAV_TYPE_TRICOPTER;

Expand All @@ -62,11 +60,7 @@ void AP_MotorsTri::init(motor_frame_class frame_class, motor_frame_type frame_ty
void AP_MotorsTri::set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type)
{
// check for reverse tricopter
if (frame_type == MOTOR_FRAME_TYPE_PLUSREV) {
_pitch_reversed = true;
} else {
_pitch_reversed = false;
}
_pitch_reversed = frame_type == MOTOR_FRAME_TYPE_PLUSREV;

set_initialised_ok((frame_class == MOTOR_FRAME_TRI) && SRV_Channels::function_assigned(SRV_Channel::k_motor7));
}
Expand Down Expand Up @@ -286,7 +280,8 @@ void AP_MotorsTri::output_armed_stabilizing()
void AP_MotorsTri::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// output to motors and servos
switch (motor_seq) {
if (!_pitch_reversed) {
switch (motor_seq) {
case 1:
// front right motor
rc_write(AP_MOTORS_MOT_1, pwm);
Expand All @@ -306,6 +301,29 @@ void AP_MotorsTri::_output_test_seq(uint8_t motor_seq, int16_t pwm)
default:
// do nothing
break;
}
} else {
switch (motor_seq) {
case 1:
// front motor
rc_write(AP_MOTORS_MOT_4, pwm);
break;
case 2:
// front servo
rc_write(AP_MOTORS_CH_TRI_YAW, pwm);
break;
case 3:
// back right motor
rc_write(AP_MOTORS_MOT_1, pwm);
break;
case 4:
// back left motor
rc_write(AP_MOTORS_MOT_2, pwm);
break;
default:
// do nothing
break;
}
}
}

Expand Down Expand Up @@ -360,6 +378,30 @@ float AP_MotorsTri::get_roll_factor(uint8_t i)
return ret;
}

// This function is currently only used by AP_Motors_test
#if APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
float AP_MotorsTri::get_pitch_factor_json(uint8_t i)
{
float ret = 0.0f;

switch (i) {
case AP_MOTORS_MOT_1: // front motors
case AP_MOTORS_MOT_2:
ret = 0.5f;
break;
case AP_MOTORS_MOT_4: // rear motor
ret = -1.0f;
break;
}

if (_pitch_reversed) {
ret *= -1.0f;
}

return ret;
}
#endif // APM_BUILD_TYPE(APM_BUILD_UNKNOWN)

// Run arming checks
bool AP_MotorsTri::arming_checks(size_t buflen, char *buffer) const
{
Expand All @@ -374,3 +416,38 @@ bool AP_MotorsTri::arming_checks(size_t buflen, char *buffer) const
// run base class checks
return AP_MotorsMulticopter::arming_checks(buflen, buffer);
}

// This function is currently only used by AP_Motors_test
#if APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
// Get the testing order for the motors
uint8_t AP_MotorsTri::get_motor_test_order(uint8_t i)
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{
if (!_pitch_reversed) {
switch (i) {
case AP_MOTORS_MOT_1: // front right motor
return 1;
case AP_MOTORS_MOT_4: // back motor
return 2;
case AP_MOTORS_CH_TRI_YAW: // back servo
return 3;
case AP_MOTORS_MOT_2: // front left motor
return 4;
default:
return 0;
}
} else {
switch (i) {
case AP_MOTORS_MOT_4: // front motor
return 1;
case AP_MOTORS_CH_TRI_YAW: // front servo
return 2;
case AP_MOTORS_MOT_1: // back right motor
return 3;
case AP_MOTORS_MOT_2: // back left motor
return 4;
default:
return 0;
}
}
}
#endif // APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
7 changes: 7 additions & 0 deletions libraries/AP_Motors/AP_MotorsTri.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,15 @@ class AP_MotorsTri : public AP_MotorsMulticopter {
// using copter motors for forward flight
float get_roll_factor(uint8_t i) override;

// return the pitch factor of any motor, this is used for AP_Motors_test
float get_pitch_factor_json(uint8_t i);

// Run arming checks
bool arming_checks(size_t buflen, char *buffer) const override;

// Get the testing order for the motors, this is used for AP_Motors_test
uint8_t get_motor_test_order(uint8_t i);

protected:
// output - sends commands to the motors
void output_armed_stabilizing() override;
Expand All @@ -59,6 +65,7 @@ class AP_MotorsTri : public AP_MotorsMulticopter {
void thrust_compensation(void) override;

const char* _get_frame_string() const override { return "TRI"; }
const char* get_type_string() const override { return _pitch_reversed ? "pitch-reversed" : ""; }

// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
Expand Down
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