2.3[Lib]AP_Motors

前言

之前在分析RCOutput的源码时候，其中的output_ch的成员函数实现过程中，对RC通道的Function进行了分类输出，具体的分成了4类：

• Function manual 下RC通道为通道直通；

• Function rc1～rc16 下RC通道则是映射到实际的ch0~ch15;

• Function motor1～motor8 则是通过AP_Motors::rc_write来实现控制；

• 其他,则是直接输出到当前SRV_Channel绑定的物理通道；

所以这里就对AP_Motors进行分析：

AP_Motors

// offsets for motors in motor_out and _motor_filtered arrays
#define AP_MOTORS_MOT_1 0U
#define AP_MOTORS_MOT_2 1U
#define AP_MOTORS_MOT_3 2U
#define AP_MOTORS_MOT_4 3U
#define AP_MOTORS_MOT_5 4U
#define AP_MOTORS_MOT_6 5U
#define AP_MOTORS_MOT_7 6U
#define AP_MOTORS_MOT_8 7U

#define AP_MOTORS_MAX_NUM_MOTORS 8

// motor update rate
#define AP_MOTORS_SPEED_DEFAULT 490 // default output rate to the motors

/// @class AP_Motors
class AP_Motors {
public:

  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,
  };
  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 // for FireFlyY6
  };

  // Constructor
  AP_Motors(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);

  // check initialisation succeeded
  bool initialised_ok() const { return _flags.initialised_ok; }

  // arm, disarm or check status status of motors,通过AP_Notify传递解锁状态
  bool armed() const { return _flags.armed; }
  void armed(bool arm);

  // set motor interlock status
  void set_interlock(bool set) { _flags.interlock = set;}

  // get motor interlock status. true means motors run, false motors don't run
  bool get_interlock() const { return _flags.interlock; }

  // set_roll, set_pitch, set_yaw, set_throttle，设置各个通道输入值范围
  void set_roll(float roll_in) { _roll_in = roll_in; }; // range -1 ~ +1
  void set_pitch(float pitch_in) { _pitch_in = pitch_in; }; // range -1 ~ +1
  void set_yaw(float yaw_in) { _yaw_in = yaw_in; }; // range -1 ~ +1
  void set_throttle(float throttle_in) { _throttle_in = throttle_in; }; // range 0 ~ 1
  void set_throttle_avg_max(float throttle_avg_max) { _throttle_avg_max = constrain_float(throttle_avg_max,0.0f,1.0f); }; // range 0 ~ 1
  void set_throttle_filter_cutoff(float filt_hz) { _throttle_filter.set_cutoff_frequency(filt_hz); }
  void set_forward(float forward_in) { _forward_in = forward_in; }; // range -1 ~ +1
  void set_lateral(float lateral_in) { _lateral_in = lateral_in; }; // range -1 ~ +1

  // accessors for roll, pitch, yaw and throttle inputs to motors，获取当前各个通道的输入值
  float get_roll() const { return _roll_in; }
  float get_pitch() const { return _pitch_in; }
  float get_yaw() const { return _yaw_in; }
  float get_throttle() const { return constrain_float(_throttle_filter.get(),0.0f,1.0f); }
  float get_throttle_bidirectional() const { return constrain_float(2*(_throttle_filter.get()-0.5f),-1.0f,1.0f); }
  float get_forward() const { return _forward_in; }
  float get_lateral() const { return _lateral_in; }
  virtual float get_throttle_hover() const = 0;

  // spool up states
  enum spool_up_down_desired {
  DESIRED_SHUT_DOWN = 0, // all motors stop
  DESIRED_SPIN_WHEN_ARMED = 1, // all motors at spin when armed
  DESIRED_THROTTLE_UNLIMITED = 2, // motors are no longer constrained by start up procedure
  };

  virtual void set_desired_spool_state(enum spool_up_down_desired spool) { _spool_desired = spool; };

  enum spool_up_down_desired get_desired_spool_state(void) const { return _spool_desired; }

  //
  // voltage, current and air pressure compensation or limiting features - multicopters only
  //
  // set_voltage - set voltage to be used for output scaling