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10874 Commits

Author SHA1 Message Date
Randy Mackay
381f538aca AP_HotorsHeli_Single: remove unused definition 2016-04-01 11:59:30 +09:00
Randy Mackay
27fed39671 AP_MotorsHeli_Single: remove roll_scalar, pitch_scalar 2016-04-01 11:59:30 +09:00
Randy Mackay
756236af35 AP_MotorsHeli: remove unused delta_phase_angle 2016-04-01 11:59:30 +09:00
Randy Mackay
16ac92be82 AP_MotorsHeli: remove unused definitions 2016-04-01 11:59:30 +09:00
Randy Mackay
aeef6692cb AP_MotorsHeli: remove unused roll_scalar, pitch_scalar, collective_range 2016-04-01 11:59:30 +09:00
Randy Mackay
1a690772e1 AP_Motors: example sketch outputs headers 2016-04-01 11:59:30 +09:00
Randy Mackay
361b64f817 AP_Motors: example sketch uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
d4998089c8 AP_Motors: example sketch provides roll, pitch, yaw in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
93597d152f AP_Motors: example sketch can test helicopter 2016-04-01 11:59:30 +09:00
Randy Mackay
47873c1d34 AP_MotorsHeli: fix RSC_SETPOINT param description 2016-04-01 11:59:30 +09:00
Randy Mackay
bcbe6b279e AP_MotorsHeli: explicitely set ServoControlModes enum 
Non functional change but this enum is tied to a parameter value so the exact value is important
 2016-04-01 11:59:30 +09:00
Randy Mackay
8febcedf4b AP_MotorsHeli: remove unnecessary static declaration 2016-04-01 11:59:30 +09:00
Randy Mackay
f022e504b0 AP_MotorsHeli: remove unused get_collective_mid and out methods 2016-04-01 11:59:30 +09:00
Randy Mackay
a18722a2fc AP_MotorsHeli: output_min uses new move_actuators in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
1197a439af AP_MotorsHeli: move_actuators to -1 to +1 range 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
Randy Mackay
c49a914597 AC_AttControlHeli: remove unnecessary virtual declaration 2016-04-01 11:59:30 +09:00
Randy Mackay
2b123ee15d AC_AttControlHeli: fix rate_bf_to_motor_roll_pitch and yaw output in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
71866be652 AP_MotorsHeliSingle: move_yaw in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
f6120b801b AP_MotorsHeliSingle: move_actuators in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
61cf8e1698 AP_Motors: add calc_pwm_output_1to1 and 0to1 
Convenience functions to convert from -1 to +1 input to pwm output
 2016-04-01 11:59:30 +09:00
Randy Mackay
56f05e6a96 AP_Motors: add set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay
2716126e40 AP_MotorsMulticopter: use desired_spool from AP_Motors class 2016-04-01 11:59:30 +09:00
Randy Mackay
93d1f1969c AP_MotorsMulticopter: remove set_desired_spool_state 
This is being moved to AP_Motors
 2016-04-01 11:59:30 +09:00
Randy Mackay
4dd4d38b9b AP_MotorsMulticopter: fix output_to_motors definition 2016-04-01 11:59:30 +09:00
Randy Mackay
c5e5b4f783 AC_AttControl: fix rate controller max definitions to -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
3ae9b606ff AP_Motors: remove unnecessary output_to_motors declaration 
This is declared down in the AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay
f2ff9e34ad AP_Motors: remove output_armed_zero_throttle 2016-04-01 11:59:30 +09:00
Leonard Hall
979534279a AC_AttControl: roll, pitch, yaw output to motors in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
879e12ba43 AP_MotorsHeli_Single: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
97f0b00e3e AP_MotorsHeli: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
b701c109cf AP_MotorsSingle: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
1a308c2eb8 AP_MotorsCoax: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
4d208fcd47 AP_MotorsTri: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
027284fba0 AP_MotorsMatrix: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
ae4e495698 AP_Motors: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
90b3d7ca39 AP_Motors: example sketch tests stab patch more thoroughly 2016-04-01 11:59:30 +09:00
Leonard Hall
cef3f42df5 AP_Motors: fix example make.inc 2016-04-01 11:59:30 +09:00
Leonard Hall
1174ad3e66 AC_InputManager_Heli: get_pilot_desired_throttle in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
d312e52aee AC_InputManager: add f for float constants 2016-04-01 11:59:30 +09:00
Leonard Hall
c64a505906 AC_PosControl: relax_alt_hold_controllers accepts throttle in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
15be80a25d AC_PosControl: accel_to_throttle outputs 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall
e5d6d45851 AC_AttControl_Heli: angle_boost to float 2016-04-01 11:59:30 +09:00
Leonard Hall
2822b93cd4 AC_AttControl: add get_throttle_in accessor 
Used for logging only
 2016-04-01 11:59:30 +09:00
Leonard Hall
c0f209fa42 AC_AttControl: angle_boost to float 2016-04-01 11:59:30 +09:00
Leonard Hall
6f29bbafb4 AC_AttControl_Multi: get_althold_lean_angle_max uses motor thrust in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
24f975c16a AC_AttControl_Multi: fix throttle boost for 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall
bab08cbcc1 AC_AttControl_Multi: add divide by zero check 2016-04-01 11:59:30 +09:00
Leonard Hall
d2a1cdf906 MotorsHeli: replace throttle_control_input with throttle_in 
throttle_control_input was 0 to 1000 range, throttle_in is 0 to 1
 2016-04-01 11:59:30 +09:00
Leonard Hall
f02e8f8e01 AP_MotorsHeli: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall
5cd4b78918 AP_MotorsSingle: remove reverse parameters 
No longer necessary because we can use individual servo reverse params
 2016-04-01 11:59:30 +09:00
Leonard Hall
6264159f4d AP_MotorsSingle: move servo objects into Single class 2016-04-01 11:59:30 +09:00
Leonard Hall
21d304b86d AP_MotorsSingle: output_to_motors implements spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall
24a100e429 AP_MotorsSingle: stability patch uses 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
cffdced838 AP_MotorsSingle: support 4 servo outputs 2016-04-01 11:59:30 +09:00
Leonard Hall
f53d6e95e8 AP_MotorsSingle: rename _rev_roll to _roll_reverse 
Also rename _rev_pitch to _pitch_reverse and _rev_yaw to _yaw_reverse
 2016-04-01 11:59:30 +09:00
Leonard Hall
4db73d86af AP_MotorsSingle: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall
46ab198ebc AP_MotorsSingle: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall
40c18891cf AP_MotorsCoax: remove reverse parameters 
No longer necessary because we can use individual servo reverse params
 2016-04-01 11:59:30 +09:00
Leonard Hall
260006dcb3 AP_MotorsCoax: move servo objects into Coax class 2016-04-01 11:59:30 +09:00
Leonard Hall
110d41ee24 AP_MotorsCoax: fix SV_SPEED param description 2016-04-01 11:59:30 +09:00
Leonard Hall
8d8f52b22f AP_MotorsCoax: output_to_motors implements spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall
b85c20bb65 AP_MotorsCoax: stability patch in 0 to 1 range 
Also removes setting of limits in stability patch
sets outputs for additional 2 servos
 2016-04-01 11:59:30 +09:00
Leonard Hall
7df9b2eb8c AP_MotorsCoax: support 4 servo outputs 2016-04-01 11:59:30 +09:00
Leonard Hall
7d6c6b5556 AP_MotorsCoax: rename _rev_roll to _roll_reverse 
Also rename _rev_pitch to _pitch_reverse and _rev_yaw to _yaw_reverse
 2016-04-01 11:59:30 +09:00
Leonard Hall
5cb44901ff AP_MotorsCoax: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall
3df52aad5f AP_MotorsCoax: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall
45a16d6dad AP_MotorsTri: implement output_to_motors for spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall
d0a7579fa0 AP_MotorsTri: stability patch in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall
80f77bc30b AP_MotorsTri: output_min does not set limits 2016-04-01 11:59:30 +09:00
Leonard Hall
ba659be5cb AP_MotorsTri: rename _yaw_servo_reverse to _yaw_reverse 2016-04-01 11:59:30 +09:00
Leonard Hall
8c4d6d6fbe AP_MotorsTri: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall
a2fdcfaf3f AP_MotorsTri: remove output_armed_not_stabilizing 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
d0c6d087a5 AP_MotorsMatrix: do not set limits in output_min 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
Leonard Hall
5841310ac7 AP_MotorsMulticopter: update_throttle_filter limits throttle to 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall
420b90953c AP_MotorsMulticopter: throttle_radio_min, max to multicopter class 
Moved in from Motors class, only ever used by multicopters
No functional change
 2016-04-01 11:59:30 +09:00
Leonard Hall
2c9a02066d AP_MotorsMulticopter: remove unused functions and variables 2016-04-01 11:59:30 +09:00
Leonard Hall
290e657f61 AP_MotorsMulticopter: update_battery_resistance captures resting voltage while disarmed 
Previously it could also capture this when the input throttle was zero
 2016-04-01 11:59:30 +09:00
Leonard Hall
bc42cb2a66 AP_MotorsMulticopter: update_battery_resistance uses get_throttle accessor 2016-04-01 11:59:30 +09:00
Leonard Hall
8228d9e72c AP_MotorsMulticopter: current_limit_max_throttle uses get_throttle accessor 2016-04-01 11:59:30 +09:00
Leonard Hall
3cbc15bb5b AP_MotorsMulticopter: add get_throttle_thrust_max accessor 2016-04-01 11:59:30 +09:00
Leonard Hall
d7dc37bda0 AP_MotorsMulticopter: remove apply_thrust_curve_and_volt_scaling_pwm 2016-04-01 11:59:30 +09:00
Leonard Hall
06f25b669d AP_MotorsMulticopter: add roll, pitch, throttle and yaw pass through 2016-04-01 11:59:30 +09:00
Leonard Hall
d7c27c949c AP_MotorsMulticopter: add spool_up_complete accessor function 2016-04-01 11:59:30 +09:00
Leonard Hall
983d2dc97a AP_MotorsMulticopter: update_throttle_filter does not set throttle_in 
get_throttle method now used to access filtered throttle
 2016-04-01 11:59:30 +09:00
Leonard Hall
3fc3858fbd AP_MotorsMulticopter: set_throttle_range calcs _min_throttle before use 2016-04-01 11:59:30 +09:00
Leonard Hall
b26318c178 AP_MotorsMulticopter: output_logic implements spooling 2016-04-01 11:59:30 +09:00
Leonard Hall
b7fe6aa16e AP_MotorsMulticopter: remove update_max_throttle 2016-04-01 11:59:30 +09:00
Leonard Hall
be64c71065 AP_MotorsMulticopter: add get_current_limit_max_throttle 
returns the current limited maximum throttle as a number between 0 ~ 1 in the range throttle_min to throttle_max
 2016-04-01 11:59:30 +09:00
Leonard Hall
64ba45a683 AP_MotorsMulticopter: add spin_when_armed_low_end_pct 
returns the spin-when-armed value as a number from 0 to 1 in the range 0 to throttle_min
 2016-04-01 11:59:30 +09:00
Leonard Hall
49819d822f AP_MotorsMulticopter: add get_hover_throttle_as_high_end_pct 
Returns hover throttle as a number from 0 to 1 in the range from throttle_min to throttle_max
 2016-04-01 11:59:30 +09:00
Leonard Hall
e625c105a4 AP_MotorsMulticopter: remove get_throttle_warn 2016-04-01 11:59:30 +09:00
Leonard Hall
3854f2eda7 AP_MotorsMulticopter: rename _throttle_thr_mix_desired to _throttle_rpy_mix_desired 
No functional change
Also rename _throttle_thr_mix to _throttle_rpy_mix
 2016-04-01 11:59:30 +09:00
Leonard Hall
65bbc23a08 AP_MotorsMulticopter: apply_thrust_curve_and_volt_scaling in 0 to 1 range 
existing equivalent pwm function becomes apply_thrust_curve_and_volt_scaling_pwm
 2016-04-01 11:59:30 +09:00
Leonard Hall
cb39f8aab7 AP_MotorsMuticopter: calc_thrust_to_pwm converts thrust in 0 to 1 range to pwm 
pwm output is always between throttle min and throttle max
 2016-04-01 11:59:30 +09:00
Leonard Hall
80ddce103f AP_Motors: move set_throttle_filter_cutoff declaration 
No functional change
 2016-04-01 11:59:30 +09:00