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SITL: add AP_MOTORS_FRAME_xxx_ENABLED guards #28885

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SITL: add AP_MOTORS_FRAME_xxx_ENABLED guards #28885

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f1f4543
SITL: add AP_MOTORS_FRAME_xxx_ENABLED defines
srmainwaring Dec 13, 2024
8417008
AP_HAL_ESP32: only enable quad frame for sim on hw
srmainwaring Dec 13, 2024
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4 changes: 4 additions & 0 deletions libraries/AP_HAL_ESP32/boards/esp32empty.h
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Original file line number Diff line number Diff line change
Expand Up @@ -148,3 +148,7 @@
#define HAL_LOGGING_BACKENDS_DEFAULT 1

#define AP_RCPROTOCOL_ENABLED 0

// disable all frames for sim on hw except quad to save DRAM .bss
#define AP_MOTORS_FRAME_DEFAULT_ENABLED 0
#define AP_MOTORS_FRAME_QUAD_ENABLED 1
3 changes: 3 additions & 0 deletions libraries/AP_HAL_ESP32/boards/esp32s3empty.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,3 +93,6 @@
#define AP_SCRIPTING_ENABLED 0
#define HAL_USE_EMPTY_STORAGE 1

// disable all frames for sim on hw except quad to save DRAM .bss
#define AP_MOTORS_FRAME_DEFAULT_ENABLED 0
#define AP_MOTORS_FRAME_QUAD_ENABLED 1
32 changes: 32 additions & 0 deletions libraries/SITL/SIM_Frame.cpp
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Expand Up @@ -27,6 +27,7 @@

using namespace SITL;

#if AP_MOTORS_FRAME_QUAD_ENABLED
static Motor quad_plus_motors[] =
{
Motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Expand Down Expand Up @@ -96,7 +97,9 @@ static Motor tiltquad[] =
Motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4, -1, 0, 0, 8, 10, -90),
Motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2),
};
#endif // AP_MOTORS_FRAME_QUAD_ENABLED

#if AP_MOTORS_FRAME_HEXA_ENABLED
static Motor hexa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Expand Down Expand Up @@ -136,7 +139,9 @@ static Motor hexa_cw_x_motors[] =
Motor(AP_MOTORS_MOT_5, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5),
Motor(AP_MOTORS_MOT_6, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6)
};
#endif // AP_MOTORS_FRAME_HEXA_ENABLED

#if AP_MOTORS_FRAME_OCTA_ENABLED
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Sorry, you're mixing the streams here!

We try not to rely on stuff from the "other side" here. ie. you should be able to compile support for the frame out in ArduPilot but havesim support for it - and support it in AP nbut not in SIM.

That measn creating AP_SIM_MOTORS_FRAME_OCTAQUAD_ENABLED etc

static Motor octa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Expand Down Expand Up @@ -172,7 +177,9 @@ static Motor octa_cw_x_motors[] =
Motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8)
};
#endif // AP_MOTORS_FRAME_OCTA_ENABLED

#if AP_MOTORS_FRAME_OCTAQUAD_ENABLED
static Motor octa_quad_motors[] =
{
Motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Expand All @@ -196,7 +203,9 @@ static Motor octa_quad_cw_x_motors[] =
Motor(AP_MOTORS_MOT_7, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7),
Motor(AP_MOTORS_MOT_8, -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8)
};
#endif // AP_MOTORS_FRAME_OCTAQUAD_ENABLED

#if AP_MOTORS_FRAME_DODECAHEXA_ENABLED
static Motor dodeca_hexa_motors[] =
{
Motor(AP_MOTORS_MOT_1, 30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Expand All @@ -212,7 +221,9 @@ static Motor dodeca_hexa_motors[] =
Motor(AP_MOTORS_MOT_11, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 11),
Motor(AP_MOTORS_MOT_12, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12)
};
#endif // AP_MOTORS_FRAME_DODECAHEXA_ENABLED

#if AP_MOTORS_FRAME_DECA_ENABLED
static Motor deca_motors[] =
{
Motor(AP_MOTORS_MOT_1, 0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1),
Expand Down Expand Up @@ -240,6 +251,7 @@ static Motor deca_cw_x_motors[] =
Motor(AP_MOTORS_MOT_9, -54, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9),
Motor(AP_MOTORS_MOT_10, -18, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 10)
};
#endif // AP_MOTORS_FRAME_DECA_ENABLED

static Motor tri_motors[] =
{
Expand All @@ -262,6 +274,7 @@ static Motor tilttri_vectored_motors[] =
Motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2)
};

#if AP_MOTORS_FRAME_Y6_ENABLED
static Motor y6_motors[] =
{
Motor(AP_MOTORS_MOT_1, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2),
Expand All @@ -271,6 +284,7 @@ static Motor y6_motors[] =
Motor(AP_MOTORS_MOT_5, 60, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1),
Motor(AP_MOTORS_MOT_6, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3)
};
#endif // AP_MOTORS_FRAME_Y6_ENABLED

/*
FireflyY6 is a Y6 with front motors tiltable using servo on channel 9 (output 8)
Expand All @@ -291,6 +305,7 @@ static Motor firefly_motors[] =
*/
static Frame supported_frames[] =
{
#if AP_MOTORS_FRAME_QUAD_ENABLED
Frame("+", 4, quad_plus_motors),
Frame("quad", 4, quad_plus_motors),
Frame("copter", 4, quad_plus_motors),
Expand All @@ -300,24 +315,41 @@ static Frame supported_frames[] =
Frame("djix", 4, quad_dji_x_motors),
Frame("cwx", 4, quad_cw_x_motors),
Frame("tilthvec", 4, tiltquad_h_vectored_motors),
#endif // AP_MOTORS_FRAME_QUAD_ENABLED
#if AP_MOTORS_FRAME_HEXA_ENABLED
Frame("hexax", 6, hexax_motors),
Frame("hexa-cwx", 6, hexa_cw_x_motors),
Frame("hexa-dji", 6, hexa_dji_x_motors),
Frame("hexa", 6, hexa_motors),
#endif // AP_MOTORS_FRAME_HEXA_ENABLED
#if AP_MOTORS_FRAME_OCTA_ENABLED
Frame("octa-cwx", 8, octa_cw_x_motors),
Frame("octa-dji", 8, octa_dji_x_motors),
#endif // AP_MOTORS_FRAME_OCTA_ENABLED
#if AP_MOTORS_FRAME_OCTAQUAD_ENABLED
Frame("octa-quad-cwx",8, octa_quad_cw_x_motors),
Frame("octa-quad", 8, octa_quad_motors),
#endif // AP_MOTORS_FRAME_OCTAQUAD_ENABLED
#if AP_MOTORS_FRAME_OCTA_ENABLED
Frame("octa", 8, octa_motors),
#endif // AP_MOTORS_FRAME_OCTA_ENABLED
#if AP_MOTORS_FRAME_DECA_ENABLED
Frame("deca", 10, deca_motors),
Frame("deca-cwx", 10, deca_cw_x_motors),
#endif // AP_MOTORS_FRAME_DECA_ENABLED
#if AP_MOTORS_FRAME_DODECAHEXA_ENABLED
Frame("dodeca-hexa", 12, dodeca_hexa_motors),
#endif // AP_MOTORS_FRAME_DODECAHEXA_ENABLED
Frame("tri", 3, tri_motors),
Frame("tilttrivec",3, tilttri_vectored_motors),
Frame("tilttri", 3, tilttri_motors),
#if AP_MOTORS_FRAME_Y6_ENABLED
Frame("y6", 6, y6_motors),
#endif // AP_MOTORS_FRAME_Y6_ENABLED
Frame("firefly", 6, firefly_motors),
#if AP_MOTORS_FRAME_QUAD_ENABLED
Frame("tilt", 4, tiltquad),
#endif // AP_MOTORS_FRAME_QUAD_ENABLED
};

// get air density in kg/m^3
Expand Down
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