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677 Commits

Author SHA1 Message Date
Andrew Tridgell
6df4d11d3f AP_Motors: ensure OneShot125 is within 125 to 250usec 2016-04-16 18:52:12 +10:00
Andrew Tridgell
fe2065cd72 AP_Motors: rename MOT_PWM_MODE to MOT_PWM_TYPE 
Randy prefers TYPE
 2016-04-14 08:05:07 +10:00
Andrew Tridgell
f54bcc6c7f AP_Motors: added oneshot support via MOT_PWM_MODE 
MOT_PWM_MODE=0 is normal
MOT_PWM_MODE=1 is oneshot
MOT_PWM_MODE=2 is oneshot125
 2016-04-14 08:05:05 +10:00
Randy Mackay
8d77bdec15 AP_MotorsMulti: minor comment fix 2016-04-14 05:45:24 +09:00
Randy Mackay
f6eabfdab2 AP_MotorsMulticopter: formatting fixes 2016-04-01 11:59:30 +09:00
Randy Mackay
6807b961e2 AP_MotorsMulticopter: protect against div-by-zero if MOT_SPIN_ARMED is zero 2016-04-01 11:59:30 +09:00
Randy Mackay
b39798ad90 AP_Motors: remove unused DESIRED_SPIN_MIN_THROTTLE 2016-04-01 11:59:30 +09:00
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
Randy Mackay
9b5b6f3779 AP_MotorsHeli: constrain filtered throttle 
This is required because we have removed the constraint on the throttle input.  This also insures that there is no lag caused by the filtered throttle straying far outside the 0 to 1 range
 2016-04-01 11:59:30 +09:00
Randy Mackay
b4a61e6ccf AP_Motors: remove constrain on throttle input 
This constraint is redundant because we already constrain the filtered throttle
 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
49562c5ca3 AP_MotorsMulticopter: reduce num bits used for spool-up-down-mode 2016-04-01 11:59:30 +09:00
Randy Mackay
3ee88fd8c7 AP_MotorsCoax: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay
8566a61660 AP_MotorsSingle: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 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
f4d94806e5 AP_MotorsMatrix: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay
b4b33db79b AP_MotorsMulticopter: promote output_min from Matrix class 2016-04-01 11:59:30 +09:00
Randy Mackay
2e8acf1f74 AP_MotorsHeli: calculate_scalars made protected 
No functional change
 2016-04-01 11:59:30 +09:00
Randy Mackay
bc1b8f415a AP_Motors: example sketch output limit flags 2016-04-01 11:59:30 +09:00
Randy Mackay
c9055ccdb1 AP_Motors: example sketch tests Single and Coax 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
250a444e57 AP_MotorsCoax: fixes to stab patch 
Fix throttle_lower flag
Also some formatting changes
 2016-04-01 11:59:30 +09:00
Randy Mackay
20565580ed AP_MotorsCoax: remove disabling of output ch7 2016-04-01 11:59:30 +09:00
Randy Mackay
63fefae7cf AP_MotorsCoax: use calc_pwm_output_1ot1 instead of local calc_pivot_radio_output 2016-04-01 11:59:30 +09:00
Leonard Hall
840e60c930 AP_MotorsSingle: fixes to stab patch 
Fixes throttle_lower flag
Also some formatting changes
 2016-04-01 11:59:30 +09:00
Randy Mackay
af9b18329c AP_MotorsSingle: use calc_pwm_output_1to1 instead of local calc_pivot_radio_output 2016-04-01 11:59:30 +09:00
Randy Mackay
c4b88aafef AP_MotorsHeli: swash and tail servo objects moved into class 2016-04-01 11:59:30 +09:00
Randy Mackay
4f1e62d551 AP_MotorsHeli: remove reset_radio_passthrough 2016-04-01 11:59:30 +09:00
Randy Mackay
b5593431bf AP_MotorsHeli_Single: replace collective_mid_pwm with collective_mid_pct 2016-04-01 11:59:30 +09:00
Randy Mackay
9790245bf1 AP_MotorsHeli: replace collective_mid_pwm with collective_mid_pct 2016-04-01 11:59:30 +09:00
Randy Mackay
a39bbc5421 AP_MotorsHeli: servo_test in range -1 to 1 2016-04-01 11:59:30 +09:00
Randy Mackay
a42706bdcc AP_Motors: remove unused example sketch to test timing 
This test was only important on the slower AVR boards
 2016-04-01 11:59:30 +09:00
Randy Mackay
a3450b712c AP_Motors: fix example sketch 2016-04-01 11:59:30 +09:00
Leonard Hall
753b72b28c AP_MotorsY6: call normalise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall
13ab3ecfea AP_MotorsQuad: call normalise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall
7ac4fc5569 AP_MotorsOctaQuad: call normalise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall
e182c10625 AP_MotorsOcta: call noramlise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall
733b89cf3c AP_MotorsHexa: call noramlise_rpy_factors in motor setup 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
e7ba5ae451 AP_MotorsMulticopter: fix get_hover_throttle_as_high_end_pct 2016-04-01 11:59:30 +09:00
Randy Mackay
4514e8d100 AP_MotorsHeli: remove slow_start 2016-04-01 11:59:30 +09:00
Randy Mackay
c41a5dc3bd AP_MotorsMulticopter: remove slow_start 
This has been replaced with the spool logic feature
 2016-04-01 11:59:30 +09:00
Randy Mackay
b436dde60c AP_Motors: remove slow_start 
This has been replaced with the spool logic feature
 2016-04-01 11:59:30 +09:00
Randy Mackay
e863f0b9c0 AP_MotorsHeli: use AP_Motors set_radio_passthrough in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
68a6408a23 AP_MotorsMulticopter: remove set_radio_passthrough 
This has been moved up to the AP_Motors class
 2016-04-01 11:59:30 +09:00
Randy Mackay
5ba3a6c536 AP_Motors: add set_radio_passthrough 2016-04-01 11:59:30 +09:00
Randy Mackay
fe4733121d AP_MotorsHeli_Single: ext_gyro_gain in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
e1e4e37c92 AP_MotorsHeli_Single: use RSC class's get_idle_output function 
No functional change
 2016-04-01 11:59:30 +09:00
Randy Mackay
2cdc5da226 AP_MotorsHeli_Single: rotor speed functions in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
68945df45d AP_MotorsHeli_Single: write_aux uses 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
b3334c3ae5 AP_MotorsHeli: rotor speed function in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay
832a226f13 AP_MotorsHeli_RSC: rotor speeds in 0 to 1 range 
Also move recalc_scalers functionality into update_rotor_ramp and update_rotor_runup
 2016-04-01 11:59:30 +09:00
Randy Mackay
4775843e3c AP_MotorsHeli_RSC: add get_idle_output accessor 2016-04-01 11:59:30 +09:00
Randy Mackay
a63dba5b13 AP_MotorsHeli_Single: servo_test becomes protected 2016-04-01 11:59:30 +09:00
Randy Mackay
cefd114964 AP_MotorsHeli_Single: remove unused accessors for tail_type, ext_gyro_gain, phase_angle 2016-04-01 11:59:30 +09:00
Randy Mackay
f2fc39943e AP_MotorsHeli_Single: remove unused delta_phase_angle 2016-04-01 11:59:30 +09:00
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
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
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
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
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
Leonard Hall
649a8c461d AP_Motors: remove unused throttle_radio_min, max 
Moved to AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Leonard Hall
e84011603c AP_Motors: remove unused throttle_pwm_scalar, rpy_pwm_scalar 2016-04-01 11:59:30 +09:00
Leonard Hall
8e1351e474 AP_Motors: init member to resolve compiler warning 2016-04-01 11:59:30 +09:00
Leonard Hall
ed51c7a28d AP_Motors: 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
c96b91efb6 AP_Motors: add output_to_motors 2016-04-01 11:59:30 +09:00