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93 Commits

Author SHA1 Message Date
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
Leonard Hall 77f8ec9f43 AP_Motors: formatting fixes 2019-07-12 09:29:40 +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 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
IamPete1 28884f60d5 AP_Motors: tricopter apply diffential thrust in forward flight 2019-01-15 10:19:19 +11:00
Randy Mackay a5c59ce36e AP_Motors: include boost_throttle in get_motor_mask 2018-08-27 10:35:02 +09:00
Jacob Walser abcb845af5 AP_Motors: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
night-ghost 3165d72647 AP_Motors: reduce unnecessary multiple call of get_compensation_gain() 2018-01-24 19:26:15 +09:00
Leonard Hall 0a10deb3f7 AP_Motors: Fix gain scaling on Throttle Average Max and reduce additional gain on low throttle for Single and Coax. 2018-01-16 11:50:30 +09:00
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
Peter Barker 35d8f11e46 AP_Motors: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Andrew Tridgell 46d9a1dcb5 AP_Motors: fixed tricopter tail servo in fwd flight 
in quadplane forward flight the with tilt-tricopter tail servo needs to
be at its trim position. Thanks to Marco for noticing this.
 2017-05-09 08:59:00 +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
Andrew Tridgell a6ecb94d24 AP_Motors: MotorsTri does not need its own var_info now 2017-01-20 12:05:09 +11:00
Andrew Tridgell 8e3bf71aa9 AP_Motors: allow single, tri and coax to be part of multicopter class 2017-01-12 17:39:37 +11:00
Andrew Tridgell 8799094278 AP_Motors: use SRV_Channel for tri tail servo 2017-01-12 17:39:37 +11:00
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
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 ff96085bd3 AP_Motors: allow arbitrary motor mapping with tricopters 2016-04-28 22:36:41 +10:00
Andrew Tridgell f2c63e24c5 AP_Motors: allow tricopter motor 7 to be moved to any output 2016-04-22 08:32:03 +10:00
Randy Mackay dc86e1472c AP_MotorsTri: protect against div-by-zero if MOT_YAW_SV_ANGLE param was set to 90 2016-04-01 11:59:30 +09:00
Leonard Hall fce426409e AP_MotorsTri: fix stab patch 2016-04-01 11:59:30 +09:00
Randy Mackay 8621774040 AP_MotorsTri: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay 41c55ffbe7 AP_MotorsTri: use YAW_SV_REV to reverse yaw output 2016-04-01 11:59:30 +09:00
Leonard Hall 13d727c2c6 AP_MotorsTri: add YAW_SV_ANGLE parameter to capture yaw servo lean angle max 2016-04-01 11:59:30 +09:00
Randy Mackay c939cc1551 AP_MotorsTri: clarify YAW_SV parameter descriptions and comments 2016-04-01 11:59:30 +09:00
Leonard Hall 267513d864 AP_MotorsTri: fixes to output_armed_stabilizing 
Also minor comment fixes
 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 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
Andrew Tridgell 7c9ee9363b AP_Motors: added rc_map_mask() function 2016-01-06 22:09:40 +11:00
Andrew Tridgell dfccf8f713 AP_Motors: also wrap set_freq and enable_ch for motor mapping 2016-01-06 22:09:40 +11:00
Andrew Tridgell d31ba2b380 AP_Motors: added rc_write function 
this is intended to make remapping motors and rescaling output easier
 2016-01-04 16:56:54 +11:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi f43f6c53f7 AP_Motors: Group writes to motors 
Surround calls to rcout->write() with rcout->cork() and rcout->push().
If the RCOutput implementation allows the writes are grouped and only
sent together to the underlying hardware.
 2015-10-06 10:42:18 +11:00