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634 Commits

Author SHA1 Message Date
Leonard Hall ba2382c409 AP_MotorsCoax: Fix servo 3 and 4 feed through sign 2016-06-20 09:45:17 +09:00
Andrew Tridgell 7a9b4c7572 AP_Motors: fixed motor load calculation 
scale to 1.0 for max collective
 2016-06-19 13:50:04 +10:00
Randy Mackay e185bab775 AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save 2016-06-18 11:55:49 +09:00
Randy Mackay 23f8227e36 AP_Motors: bug fix to save params on disarm 
Previously was saving during arming  as well as disarming.
Thanks to OXINARF for finding this!
 2016-06-18 11:55:49 +09:00
Randy Mackay a2ffd9ec7d AP_MotorsMulticopter: fix comment for get_throttle_limit function 2016-06-18 11:55:49 +09:00
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 8fff32bde3 AP_MotorsSingle: fix stability patch use of throttle_hover 2016-06-18 11:55:49 +09:00
Leonard Hall e0f9fc8e40 AP_MotorsSingle: rename rpy_scale, thrust_min_rpy variables 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall da05902805 AP_MotorsCoax: fix stability patch use of throttle_hover 2016-06-18 11:55:49 +09:00
Leonard Hall 9bc866e771 AP_MotorsCoax: rename rpy_scale internal variable 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall 8bdb906b2b AP_MotorsCoax: fixes negative thrust 2016-06-18 11:55:49 +09:00
Randy Mackay 71d1818103 AP_MotorsMulticopter: minor comment update 2016-06-18 11:55:49 +09:00
Randy Mackay 818965fa57 AP_MotorsMulticopter: output_to_motors and output_logic become protected 2016-06-18 11:55:49 +09:00
Leonard Hall 02881b59ff AP_MotorsMulti: float constants 2016-06-18 11:55:49 +09:00
Randy Mackay 79a73a5c2f AP_Motors: fix example sketch 
No need to set throttle_mix nor throttle_min
 2016-06-18 11:55:49 +09:00
Leonard Hall bee6c29b89 AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN 2016-06-18 11:55:49 +09:00
Leonard Hall be25ac4acf AP_MotorsMulticopter: Add current limit time constant variable 2016-06-18 11:55:49 +09:00
Leonard Hall 7e0e0ca874 AP_MotorsMulticopter: battery voltage compensation improvements 2016-06-18 11:55:49 +09:00
Leonard Hall 0ee7b00b0b AP_MotorsMulticopter: rename _thrust_curve_min to spin_min 2016-06-18 11:55:49 +09:00
Leonard Hall 142a67bb6d AP_MotorsMulticopter: minor comment change 2016-06-18 11:55:49 +09:00
Leonard Hall 5cace33ca5 AP_MotorsMulticopter: SPIN_MIN replaces min_throttle 2016-06-18 11:55:49 +09:00
Leonard Hall 2c811364d3 AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED 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
Randy Mackay 25778a24e2 AP_MotorsMulticopter: add HOVER_LEARN param 2016-06-18 11:55:49 +09:00
Leonard Hall 4f0db2bc36 AP_Motors: learned THST_HOVER replace THR_MID 
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1.  0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
 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
Andrew Tridgell 255bda9f9c AP_Motors: allow setting of loop rate 
this allows for SCHED_LOOP_RATE in copter
 2016-06-17 15:01:18 +10:00
Leonard Hall b3fcab8044 AP_Motors: minor comment fix 2016-06-09 09:49:00 +09:00
Andrew Tridgell f58d837026 AP_Motors: fixed heli RSC output range and float conversion 
adds H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
 2016-06-04 18:33:36 +10:00
Leonard Hall a16018f9fe AP_Motors: Missed Single fix 2016-05-31 12:44:17 +10:00
Leonard Hall d67f83559c AP_Motors: Single and Coax Fixes 2016-05-29 16:12:29 +10:00
Randy Mackay 72b86a3f99 AP_Motors: remove unused stabilizing flag 
Also initialise some members to resolve converity warnings
 2016-05-28 15:45:29 +09:00
Andrew Tridgell a2ed8fb313 AP_Motors: prevent negative thrust 
this prevents a sqrt of a negative number
 2016-05-26 17:09:11 +10:00
Andrew Tridgell 6855899cbf AP_Motors: fixed servo constructor for coax 2016-05-26 16:41:16 +10:00
Andrew Tridgell 4e5e301c4e AP_Motors: fixed servo constructor for heli 2016-05-26 16:41:06 +10:00
Andrew Tridgell f9fb098222 AP_Motors: fixed channel output for SingleCopter 2016-05-26 16:26:43 +10:00
Andrew Tridgell 65eb9ceb32 AP_Motors: expose min/max pwm 2016-05-26 14:33:57 +10:00
Andrew Tridgell a44b0e0011 AP_Motors: don't setup oneshot for a zero output mask 2016-05-26 12:18:49 +10:00
Fredrik Hedberg 75d5c87788 AP_Motors: Fix setpoint bug with 0~1 conversion in AP_MotorsHeli 2016-05-25 09:27:40 +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 0c225cf498 AP_MotorsMulticopter: fix typo in comments 2016-05-24 10:00:25 +09:00
Randy Mackay ff93524ba4 AP_Motors: rename MOT_THST_MAX to MOT_SPIN_MAX 
Also renamed:
MOT_THST_BAT_MIN,MAX to MOT_BAT_VOLT_MIN,MAX
MOT_CURR_MAX to MOT_BAT_CURR_MAX
 2016-05-24 10:00:25 +09:00
Randy Mackay f1cbdbe914 AP_Motors: update some comments 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
Ricardo de Almeida Gonzaga 2802775e7d AP_Motors: Fix typos 2016-05-13 19:20:06 -03:00
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
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
skyscraper de5130fa13 AP_Motors: RC_Channel refactor 
More fixing up of RC_Channel change access to
data members to functions
 2016-05-10 16:21:16 +10:00