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43 Commits

Author SHA1 Message Date
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
Randy Mackay 41189758b8 AP_Motors: move some functions to protected 
Also minor formatting fix
 2016-12-31 10:55:23 +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
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
Randy Mackay f4d94806e5 AP_MotorsMatrix: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Leonard Hall 8f8eb7e214 AP_MotorsMatrix: add normalise_rpy_factors 2016-04-01 11:59:30 +09:00
Randy Mackay 8057d2fc58 AP_MotorsMatrix: remove unnecessary virtual declarations 2016-04-01 11:59:30 +09:00
Leonard Hall 397940a9a4 AP_MotorsMatrix: implement output_to_motors 2016-04-01 11:59:30 +09:00
Leonard Hall cdec8f3387 AP_MotorsMatrix: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall b965857229 AP_MotorsMatrix: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 3fef60da45 AP_MotorsMatrix: stability patch in 0 to 1 range 
Includes storing motor level thrusts to _thrust_rpyt_out
rename _throttle_thr_mix_desired to _throttle_rpy_mix_desired
rename _throttle_thr_mix to _throttle_rpy_mix
use get_hover_throttle_as_high_end_pct
use throttle_thrust_max updated by multicopter spool logic
do not set limits in stability patch
 2016-04-01 11:59:30 +09:00
Lucas De Marchi 7d9153feb8 AP_Motors: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
Gustavo Jose de Sousa 1e619c6c59 AP_Motors: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:19 +10:00
Randy Mackay 112e934072 AP_MotorsMatrix: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:43 +09:00
Robert Lefebvre 61d6c5aa1d AP_Motors: Creation of AP_Motors_Multirotor class 2015-07-21 16:24:38 +09:00
Robert Lefebvre b8181b6b90 AP_Motors: RCMAP fix 
Remove all RC Input channels passed as reference into AP_Motors.  All input handling self-contained inside AP_Motors.
Rework Tricopter to use internal servo calcs.
 2015-05-25 22:13:32 +09:00
Jonathan Challinger 8e442675a7 AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output 2015-04-16 20:59:40 +09:00
Jonathan Challinger bc2afb31dd AP_Motors: virtual not necessary in child class 2015-04-16 20:59:37 +09:00
Randy Mackay 7ab76dbd0e Motors: add loop_rate to constructor for all frames 2015-03-03 15:48:34 +09:00
Leonard Hall 5b0bd49ff2 Motors: configurable yaw headroom for matrix frames 2015-03-03 15:48:15 +09:00
NullVoxPopuli c672b3e324 Copter: Added support for V-Shaped and A-Shaped VTail Quadcopter frames 
Signed-off-by: NullVoxPopuli <LPSego3+dev@gmail.com>
 2014-08-18 14:31:01 +09:00
Randy Mackay b665ebd7a0 MotorsMatrix: implement get_motor_mask 2014-07-26 16:33:24 +09:00
Randy Mackay d63d82ec17 MotorMatrix: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:10 +09:00
Randy Mackay cf1d6854b9 AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels 2014-02-15 05:27:49 +11:00
Randy Mackay 2c6470f87b AP_MotorsMatrix: remove unused _num_motors 
Saves 1 byte of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 851a538692 Copter: motor matrix comment change 2013-11-27 22:33:01 +09:00
Randy Mackay f3a2db195e Copter Motors: remove old style stability patch 2013-07-25 15:34:04 +09:00
Randy Mackay 6477c746cd Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED 
Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
 2013-07-16 12:47:59 +09:00
Jonathan Challinger 2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Andrew Tridgell 81f7ae9108 AP_Motors: fixed indent-tabs-mode 2013-05-30 09:51:34 +10:00
Randy Mackay ec7ee47099 Copter: scaling stability patch 2013-05-27 11:21:31 +09:00
Randy Mackay ad00e0ee1e ACMotors: make test_order uint_8 2013-05-14 18:03:34 +09:00
Randy Mackay 88893f4209 ACMotors: make a few functions non-virtual 2013-05-14 17:41:12 +09:00
Randy Mackay bd07b1e57b ACMotors: remove unused get_num_motors function 
Saves about 4 bytes of RAM
 2013-05-14 17:35:27 +09:00
Randy Mackay cb5f8826f8 Copter: Leonard's fix for trapezoidal frame 
We need to allow yaw_factors to be floats in the add_motor method
 2013-04-25 17:52:19 +09:00
Andrew Tridgell f91ddf5df9 AP_Motors: removed board type define 2013-01-02 15:27:58 +11:00
rmackay9 3aca61cefb AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch) 2013-01-02 09:19:17 +11:00
Pat Hickey c6fe5e5340 AP_Motors: ported to AP_HAL 2012-12-20 14:51:26 +11:00
rmackay9 c320938ff2 AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability. 
Resolves climb-on-yaw problem.
 2012-10-09 15:48:15 +09:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
uncrustify 4fe97c1e7b uncrustify libraries/AP_Motors/AP_MotorsMatrix.h 2012-08-21 19:04:07 -07:00
rmackay9 1e20d7de88 AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used 2012-04-05 00:24:56 +09:00
rmackay9 b71877366e ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00