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39 Commits

Author SHA1 Message Date
Robert Lefebvre 789b1018fc AP_MotorsHeli: Change set_delta_phase_angle so that it forces recalculation of collective factors. 2014-07-08 20:18:39 +09:00
Robert Lefebvre fd542e99d8 AP_MotorsHeli: Create Delta Phase Angle variable and method to set. Will be used by CCComp code. 2014-07-08 20:18:34 +09:00
Robert Lefebvre 0680b88abd AP_MotorsHeli: Add main loop rate time variable and method. Change RSC increment calc to account for loop rate time. 2014-07-08 20:18:20 +09:00
Randy Mackay 3610cfe24c TradHeli: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:13 +09:00
Randy Mackay 18d3907928 TradHeli: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 80ec61f217 TradHeli: make accessor methods const 2014-02-15 05:27:43 +11:00
Randy Mackay 1426078cdb TradHeli: disable aux channels 7 and 8 2014-02-07 22:04:23 +09:00
Robert Lefebvre d441354961 TradHeli: Minor change to two param defaults 
Also one param name in the code clarified.
 2014-01-10 10:52:17 +09:00
Randy Mackay 7233a567fb TradHeli: add accessor for phase_angle 2013-11-15 22:58:41 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay b71c6bfd76 TradHeli: add RSC_RUNUP_TIME param and rotor speed estimate 2013-11-15 22:58:29 +09:00
Randy Mackay bc4dba0eea TradHeli: ext gyro gain range 0 to 1000 2013-11-15 22:58:26 +09:00
Randy Mackay 197fc67897 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-15 22:58:24 +09:00
Randy Mackay 942c14258b TradHeli: ramp up changes 
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
 2013-11-15 22:58:13 +09:00
Robert Lefebvre 9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Randy Mackay 7ae0d3320b TradHeli: add landing collective min 2013-11-15 22:57:58 +09:00
Randy Mackay 1f65bb537f TradHeli: add get_pilot_desired_collective 
Perhaps this should be moved to the main code's heli.pde sketch
 2013-11-15 22:57:51 +09:00
Randy Mackay 13a412ee21 TradHeli: make parameters and variables private 
add accessors for variables and params required in main code
replace tabs with spaces
 2013-11-15 22:57:41 +09:00
Randy Mackay 2cc48ffcd6 Copter: formatting and param description changes 2013-11-15 22:57:37 +09:00
Robert Lefebvre c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Andrew Tridgell 81f7ae9108 AP_Motors: fixed indent-tabs-mode 2013-05-30 09:51:34 +10:00
Randy Mackay bd07b1e57b ACMotors: remove unused get_num_motors function 
Saves about 4 bytes of RAM
 2013-05-14 17:35:27 +09:00
Randy Mackay 1a7cffefe6 TradHeli: change coll_out to int16_t 
was incorrectly defined as an AP_Int16 parameter
 2013-04-24 11:32:26 +09:00
Andrew Tridgell f91ddf5df9 AP_Motors: removed board type define 2013-01-02 15:27:58 +11:00
Andrew Tridgell 7582c882e6 Motors: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey c6fe5e5340 AP_Motors: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Robert Lefebvre 0eb57bf93d ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
Robert Lefebvre 6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
uncrustify 744ad19630 uncrustify libraries/AP_Motors/AP_MotorsHeli.h 2012-08-21 19:19:52 -07:00
Robert Lefebvre 575b99b4be TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Robert Lefebvre bf6c934c32 Changing TradHeli param motors.acro_mode to motors.flybar_mode to better reflect it's intent. 2012-08-20 23:13:50 -04:00
Robert Lefebvre e6b5af7143 Adding new Trad Heli parameters. 2012-08-20 16:45:19 -04:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Robert Lefebvre df17ff3bc1 AP_MotorsHeli Syntax correction. 2012-06-04 15:53:07 -04:00
rmackay9 c82a403b88 AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work. 
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
 2012-06-02 16:13:23 +09:00
Robert Lefebvre 5f058fb9b2 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
rmackay9 7a8973eaf0 AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino. 2012-04-05 00:06:33 +09:00
rmackay9 b71877366e ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00