Randy Mackay
1fa335a77b
AP_Motors: actuator_spin_up renamed to include _to_ground_idle
2019-01-21 20:55:07 +09:00
Randy Mackay
e2bd502b83
AP_Motors: minor format fixes
2019-01-21 20:13:43 +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
10572c2f9b
AP_Motors: remove unused defines from multicopter
2019-01-15 11:41:44 +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
c26948ef59
AP_Motors: multicopter apply diffential thrust in forward flight
2019-01-15 10:19:19 +11:00
Peter Barker
f2070da335
AP_Motors: add override keyword where required
2018-11-08 11:30:12 +11:00
Randy Mackay
a5c59ce36e
AP_Motors: include boost_throttle in get_motor_mask
2018-08-27 10:35:02 +09:00
Jacob Walser
e5bd6e289e
AP_Motors: Add current limiting to 6DOF motors for Sub
2018-04-29 17:16:34 -04:00
Michael du Breuil
050b8ebb32
AP_Motors: Allow specifying which battery is used for compensation
2018-03-27 22:12:21 +01:00
Leonard Hall
9e86732edc
AP_Motors: accept external battery resistance estimate
2017-06-06 14:57:04 +09:00
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
bdc4320fe8
AP_Motors: added MOT_BOOST_SCALE
...
this is to support boost motors for copters, such as having a petrol
motor for extra lift on a multicopter
The scaling factor allows the user to control how much of the lift is
generated from the booster and how much from the main multicopter
motors
2017-05-08 11:02:55 +10:00
Andrew Tridgell
2187417d74
AP_Motors: added MOT_SPOOL_TIME
...
this allows for quadplanes to have faster spoolup, which can help with
transitions
2017-02-14 09:23:17 +09:00
Randy Mackay
a14265359f
Copter: reduce default MOT_THST_HOVER to 0.35
2017-02-07 11:20:25 +09:00
Andrew Tridgell
8e3bf71aa9
AP_Motors: allow single, tri and coax to be part of multicopter class
2017-01-12 17:39:37 +11:00
Jonathan Challinger
22517422f9
AP_Motors: add option to disable motor PWM output while disarmed
2016-11-21 10:49:21 +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
Leonard Hall
bead957a78
AP_MotorsMulticopter: limit hover throttle
2016-10-15 11:27:53 +09:00
Andrew Tridgell
bc7488e2f2
AP_Motors: fixed typos
2016-07-01 15:35:29 +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
a2ffd9ec7d
AP_MotorsMulticopter: fix comment for get_throttle_limit function
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
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
be25ac4acf
AP_MotorsMulticopter: Add current limit time constant variable
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
65eb9ceb32
AP_Motors: expose min/max pwm
2016-05-26 14:33:57 +10:00
Randy Mackay
8d1f50e78f
AP_Motors: rename get_pwm_min to get_pwm_output_min
2016-05-24 10:00:25 +09:00
Randy Mackay
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
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()
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this will be used for tiltrotors in forward flight
2016-05-11 05:55:23 +10:00
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
49562c5ca3
AP_MotorsMulticopter: reduce num bits used for spool-up-down-mode
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
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
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
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
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