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Commit Graph

135 Commits

Author SHA1 Message Date
Rishabh aec65ed6ff AP_Motors: Added cwx motor setup for hexa, octa and octaquad 2020-02-19 11:28:25 +09:00
Rishabh 38533b2f09 AP_Motors: Added DJI_X motor setup for hexacopter and octacopter 2020-01-29 16:57:23 +09:00
Andrew Tridgell 134d8b941b AP_Motors: added betaflight-x-reversed frame type 2020-01-16 19:13:13 +11:00
Leonard Hall 5979c750f9 AP_Motors: yaw headroom fix 2019-10-31 16:12:11 +09:00
Leonard Hall a8913d0df5 AP_Motors: Add full yaw range calculation back 2019-10-31 11:04:40 +08:00
Leonard Hall f840f96276 AP_Motors: Freeze motor lost index on enabling thrust boost 2019-10-31 10:49:45 +08:00
Leonard Hall d4b922336b Copter: add voltage compensation to _throttle_thrust_max 2019-10-15 10:45:36 +09:00
Leonard Hall 4a1a5e81ea AP_Motors: Add variable to record the final thrust value 
Add Throttle_Out for other frames
 2019-10-10 20:26:02 +09:00
Leonard Hall 036b47ec56 AP_Motors: Add seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
Leonard Hall 0bb9db5139 AP_Motors: add feedforward input to mixers 2019-07-25 17:38:15 +09:00
Randy Mackay 10da6d553c Copter: improve OctaV roll factors 2019-07-18 11:19:28 +09:00
Leonard Hall 77f8ec9f43 AP_Motors: formatting fixes 2019-07-12 09:29:40 +09:00
1iggy2 7323a5da9d AP_Motors: Added Octo I frame 2019-06-04 09:49:44 +09:00
Peter Barker 1e606cdc5b AP_Motors: make desired spool state and spool state enum-classes 
This will help avoid getting the enumerations mixed up
 2019-04-14 12:18:03 +09:00
Randy Mackay 54fe1dad82 AP_Motors: add missing break to Hexa-H 2019-04-13 10:36:36 +09:00
murata df85409a4c AP_Motors: Integrate processing result setting true 2019-04-13 10:29:49 +09:00
Randy Mackay a2373ebca2 AP_Motors: add support for Hexa-H frame 
same as X frame except that middle motors are closer to center
 2019-04-12 09:32:12 +09:00
Andrew Tridgell cf8b059531 AP_Motors: added 3 more motor orders for X quads 
- betaflight X
 - DJI X
 - clockwise X
 2019-02-06 11:17:35 +11:00
Randy Mackay 1fa335a77b AP_Motors: actuator_spin_up renamed to include _to_ground_idle 2019-01-21 20:55:07 +09:00
Matt 3d3f06cacb AP_Motors: Add actuator output slew time to multicopters 
Adds slew time limiting for throttling up and throttling down to multicopters.  New parameters MOT_SLEW_UP_TIME and MOT_SLEW_DN_TIME added.  0 = disabled, no slew limiting.  Valid values are 0 to 0.5 seconds.  Also reworked functions related to linearization and PWM conversion to make more flexible throughout the code.
 2019-01-21 20:07:58 +09:00
bnsgeyer ac87b3e1e5 AP_Motors: spool state moved from multi to parent 
Also rename SPIN_WHEN_ARMED to GROUND_IDLE
 2019-01-15 11:41:44 +09:00
Andrew Tridgell d907c5757d AP_Motors: added PlusRev motors type 
this is a plus frame with reversed motor direction, needed for quad in
Morse simulator
 2018-12-04 09:44:50 +11:00
Randy Mackay 853a56dc9b AP_MotorsMatrix: formatting fixes 2018-10-16 00:44:50 +09:00
Leonard Hall 4774cb8daf AP_Motors: improved motor loss redundancy 
This detects a failed motor on copters with at least 6 motors
and recalculates the mixer to compensate
 2018-10-16 00:44:50 +09:00
Randy Mackay a5c59ce36e AP_Motors: include boost_throttle in get_motor_mask 2018-08-27 10:35:02 +09:00
Jacob Walser 24e21b57ca AP_Motors: add output_test_num api for motor testing 2018-07-02 11:31:58 -04:00
Jacob Walser abcb845af5 AP_Motors: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Andrew Tridgell e55d3a0834 AP_Motors: fix mask passed to rc_set_freq 
the full motor mask must be supplied to work correctly for oneshot and
dshot
 2018-04-07 09:10:29 +10:00
night-ghost 3165d72647 AP_Motors: reduce unnecessary multiple call of get_compensation_gain() 2018-01-24 19:26:15 +09:00
Leonard Hall eb6ab53f6c AP_Motors: fix optimum thrust calcs 2018-01-13 10:06:11 +09:00
Andrew Tridgell efea83e424 AP_Motors: fixed MotorsMatrix set_update_rate() 2017-10-22 15:52:50 +11:00
Andrew Tridgell 03e1f6967f AP_Motors: removed enable() API 
all output channels are already enabled by SRC_Channels::enable_aux_servos()
 2017-10-22 15:52:50 +11:00
murata 66fc49889b AP_Motors: add dodeca-hexa 2017-05-27 14:21:13 +09:00
Andrew Tridgell 2c4975ba31 AP_Motors: removed cork/push from AP_Motors 
should be done by vehicle code if needed, so that AUX servos are sent
at the same time
 2017-05-01 14:32:18 +10:00
Randy Mackay 8b5aae37e0 AP_Motors: remove Hexa-H, change Octa-H factors 
Octa-H is like an Quad-X but with each side having two additional motors placed between the front an back motors.
Octa-H is quite different from Quad-H.
 2017-02-10 10:42:14 +09:00
Randy Mackay 872e0567be AP_Motors: add H frame support for hexa and octa 2017-02-09 12:37:14 +09:00
Andrew Tridgell af44e9fdbd AP_Motors: added frame type 11 for Y6 to match FireFly6 
using same motor output mapping as AvA
 2017-02-06 16:18:58 +11:00
Randy Mackay bdfb12123f AP_Motors: fix frame-type enum for Y6B 
Also remove unused NEW_PLUS
 2016-12-31 10:55:23 +09:00
Randy Mackay ffa6d1a5b9 AP_Motors: init fixes for frame_class, type and initialised_ok 
Thanks to OXINARF for spotting these
 2016-12-31 10:55:23 +09:00
Randy Mackay 7be0f437a9 AP_Motors: consolidate matrix multicopters 
AP_MOTORS_x_FRAME definitions moved to motor_frame_type enum
init function and now accepts frame-class and type to perform initial motor setup
set_frame_class_and_type allows real-time changing of motor setup
initialised_ok flag and accessor records whether setup was successful
 2016-12-31 10:55:23 +09:00
Jonathan Challinger 22517422f9 AP_Motors: add option to disable motor PWM output while disarmed 2016-11-21 10:49:21 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Randy Mackay a1b573ed0a AP_Motors: rename throttle_ave_max to throttle_avg_max 2016-06-18 11:55:49 +09:00
Randy Mackay ef106e4b0f AP_Motors: spool_mode moved out of flags struction 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall 488f90b39d AP_Motors: add calc_spin_up_to_pwm to reduce repeated code 2016-06-18 11:55:49 +09:00
Leonard Hall 5a8fc6283e AP_Motors: replace throttle_rpy_mix with throttle_avg 
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
 2016-06-18 11:55:49 +09:00
Randy Mackay 8d1f50e78f AP_Motors: rename get_pwm_min to get_pwm_output_min 2016-05-24 10:00:25 +09:00
Randy Mackay 49b14b3cb6 AP_Motors: add PWM_MIN, MAX 
These parameters allow the motor PWM output range to be different from receiver's throttle input range
Also renamed throttle_pass_through to set_throttle_passthrough_for_esc_calibration and change the method's input to the 0 to 1 range instead of direct PWM value
 2016-05-24 10:00:25 +09:00
Andrew Tridgell 60b3625950 AP_Motors: added hook for vehicle based thrust compensation 
allow vehicle code to compensate for thrust effectiveness changes due
to properties outside the scope of AP_Motors. This allows for
compensation in tiltrotors and tiltwings.
 2016-05-11 05:55:23 +10:00
Andrew Tridgell 37d6b5fdaf AP_Motors: added output_motor_mask() 
this will be used for tiltrotors in forward flight
 2016-05-11 05:55:23 +10:00