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688 Commits

Author SHA1 Message Date
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 9ac051c56d TradHeli: BugFix to ColYaw 
Credit to Jolyon Saunders for finding this bug.
 2013-11-15 22:58:11 +09:00
Robert Lefebvre 4426060ccc TradHeli: COLYAW not applied when the motor is not running 2013-11-15 22:58:06 +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
Randy Mackay d54b1ea446 CopterMotors: fix example sketch 2013-11-14 22:27:10 +09:00
Randy Mackay ce045c77a4 Copter: remove unused variable from Single copter 2013-11-14 22:26:53 +09:00
Randy Mackay 14dc1a1c88 Copter: add @User and @Increment to motor params description 2013-11-13 12:28:59 +09:00
Randy Mackay e53c57b0a6 Copter: default SPIN_WHEN_ARMED to zero 2013-11-13 12:28:01 +09:00
Randy Mackay 81d83f1c55 SingleCopter: formatting changes 
replace tab with 4-spaces
remove blank lines
 2013-11-12 23:40:29 +09:00
ssq870424 07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Robert Lefebvre 5d946be77c TradHeli: Change user description for COLYAW parameter. 2013-11-03 12:56:59 +09:00
Randy Mackay bb1664185f Copter: correct @Range of MOT_TCRV_MAXPCT parameter 2013-10-30 20:53:21 +09:00
texlan 78acea820f Copter: fix symmetry in stability patch for Tricopters 
Removes the "Increase opposing motors by 1/2 the overage of the high
motor" logic and merely moves all 3 motors down by the same amount if
one is over out_max. This eliminates the asymmetric scaling of
the previous logic when more than one motor is over out_max. This
resolves #537
 2013-10-21 20:12:53 +09:00
Randy Mackay 943d7374f6 Copter: slow start motors from 0 to min throttle 2013-10-20 14:51:35 +09:00
texlan 53553751d1 Copter: Correctly set limit.lower flags for Tricopters 
Resolves #536
 2013-10-19 23:08:25 +09:00
Randy Mackay e0c4785b2a Copter: OctaQuad H-frame support 2013-10-18 10:41:07 +09:00
Randy Mackay d3fcfe669d Copter Motors: increase MOT_SPIN_ARMED to int16 2013-09-18 13:28:01 +09:00
Andrew Tridgell 5bef6dd539 AP_Motors: fixed example build 2013-09-13 10:53:53 +10:00
Randy Mackay 0a047ae1c1 Copter Motors: increased spin-when-armed to 70 
Changed choices to be displayed in ground stations
 2013-09-12 22:36:04 +09:00
Randy Mackay 62cb5c172b Copter Motors: add slow start feature 
Combined armed, frame orientation and slow_start into flags bitmask
Removed ability to set max throttle because it was never used
Re-ordered class variables
 2013-09-12 22:27:44 +09:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell 01387a1553 AP_Motors: fixed examples build 2013-08-30 13:01:39 +10:00
Randy Mackay 0797489ad8 Motors: use AP_Notify static flags variable 2013-08-30 13:01:35 +10:00
Randy Mackay f8a872f01e AP_Motors: update notify 2013-08-30 13:01:34 +10:00
Randy Mackay 8d26fb5581 Copter Motors: by default spin motors at 65 when armed 2013-07-28 18:18:52 +09:00
Randy Mackay fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Randy Mackay f3a2db195e Copter Motors: remove old style stability patch 2013-07-25 15:34:04 +09:00
Randy Mackay 43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +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
Robert Lefebvre 957cb094ea TradHeli: Remove unused RSC Mode 3. 2013-07-19 16:16:06 +09:00
Randy Mackay 336357fbaf Copter: ensure _spin_when_armed is not higher than _min_throttle 2013-07-16 15:25:57 +09:00
Randy Mackay 62f3eed4e0 Copter: fix to SPIN_ARMED parameter desciption 2013-07-16 12:59:38 +09:00
Randy Mackay b709b90a59 Copter: implement safety spin for Tricopters 2013-07-16 12:48:01 +09:00
Randy Mackay 6477c746cd Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED 
Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
 2013-07-16 12:47:59 +09:00
Jonathan Challinger 2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Jonathan Challinger ae2b1e3b7e AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach 2013-07-16 12:47:49 +09:00
rmackay9 073e2c9f15 ACMotors: bug fix to yaw limit 2013-07-05 13:51:59 -10:00
Randy Mackay 76028fc9d3 Copter Motors: use _min_throttle in output_test 2013-05-31 15:16:04 +09:00
Randy Mackay 28f2f87b26 Copter Motors: minor formatting change 2013-05-31 15:16:04 +09:00
Andrew Tridgell 81f7ae9108 AP_Motors: fixed indent-tabs-mode 2013-05-30 09:51:34 +10:00
Randy Mackay ec7ee47099 Copter: scaling stability patch 2013-05-27 11:21:31 +09:00
Randy Mackay 6a65a32de2 CopterMotors: add formatting info to top of files 2013-05-20 10:48:42 +09:00
Randy Mackay 5235f4cacd Copter: allow Tri copters to init ESCs through APM/PX4 2013-05-19 17:28:39 +09:00
Randy Mackay 610edd8f9a ACMotors: small formatting change 2013-05-14 19:01:53 +09:00
Randy Mackay cd5795a4ac ACMotors: make a few more functions non-virtual 
Saves at least 22 bytes of RAM
 2013-05-14 18:23:36 +09:00
Randy Mackay ad00e0ee1e ACMotors: make test_order uint_8 2013-05-14 18:03:34 +09:00
Randy Mackay 88893f4209 ACMotors: make a few functions non-virtual 2013-05-14 17:41:12 +09:00
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 5bb0582854 ACMotors: ESC Calibration only for enabled motors 2013-05-14 17:07:36 +09:00
Randy Mackay 33d1129904 Copter: remove unused TB_RATIO parameter 2013-05-14 16:56:55 +09:00
Randy Mackay 7a81c41689 AP_Motors: motor_enabled array to bool 
Also increased the default MAX_THROTTLE from 850 to 1000 but this number
is always overwritten by the main code anyway so should have no
functional impact.
 2013-05-14 16:05:22 +09:00
Randy Mackay 1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay cb5f8826f8 Copter: Leonard's fix for trapezoidal frame 
We need to allow yaw_factors to be floats in the add_motor method
 2013-04-25 17:52:19 +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 2c05030fb1 AP_Motors: use the right constrain() function 2013-04-22 13:26:49 +10:00
Randy Mackay a656b619f5 AP_Motors: remove auto_armed 
redundant flag that was already held in the main code which is where it
belongs.
 2013-04-17 21:28:42 +09:00
foobarbecue c07702f46d Update AP_MotorsOctaQuad.cpp 
There were two "4"s in the motor test order values. Presumably a typo.
 2013-04-05 11:22:56 +09:00
Randy Mackay 739e3c2b9a Copter: adjust trapezoidal motor mixing 2013-04-04 21:46:11 +09:00
Randy Mackay e32cbd827b Copter: replace quad trapezoid frame with V 
Also update motor mixing
 2013-04-03 22:14:29 +09:00
Randy Mackay 39ba406957 Copter: add trapezoid frame type 
We still need to properly define the motor mixing for the trapezoid
frame in AP_MotorsQuad.cpp
 2013-03-31 12:41:02 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell 03b26c7d6d AP_Motors: fixed setup of ESC update speeds 2013-01-10 15:52:46 +11:00
Andrew Tridgell e7dea077b4 AP_Motors: fixed example sketch 2013-01-02 22:02:46 +11:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell f91ddf5df9 AP_Motors: removed board type define 2013-01-02 15:27:58 +11:00
rmackay9 3aca61cefb AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch) 2013-01-02 09:19:17 +11:00
Andrew Tridgell a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Pat Hickey 3cc204321c AP_Motors_Class: add Progmem typedef 2012-12-20 14:52:30 +11:00
Andrew Tridgell 7582c882e6 Motors: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey 475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Pat Hickey c6fe5e5340 AP_Motors: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
rmackay9 a38db6744f AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
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 a5c4e65cdf ACM: TradHeli 
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
 2012-12-04 15:09:27 -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 50a4838879 AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9 0159d8bd35 AP_Motors: bug fix to reached_limits so by default it returns true if any limits have been breached 2012-10-31 22:00:17 +09:00
rmackay9 c0cf2d6f38 AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved 2012-10-11 17:19:54 +09:00
rmackay9 c320938ff2 AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability. 
Resolves climb-on-yaw problem.
 2012-10-09 15:48:15 +09:00
rmackay9 6ed59fba91 AP_Motors: enable throttle curve by default 2012-09-25 23:36:35 +09:00
rmackay9 bc2aa84394 AP_Motors: remove stray debug message re set-up of throttle curve 2012-09-23 12:25:31 +09:00
Robert Lefebvre 9e32d45d7b Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges. 2012-09-19 20:43:58 -04:00
rmackay9 93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
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
uncrustify b1b1975018 uncrustify libraries/AP_Motors/AP_MotorsHeli.cpp 2012-08-21 19:19:52 -07:00
uncrustify 40dcf9e7a8 uncrustify libraries/AP_Motors/AP_MotorsOctaQuad.h 2012-08-21 19:04:07 -07:00
uncrustify 3a5b8c5482 uncrustify libraries/AP_Motors/AP_MotorsOcta.h 2012-08-21 19:04:07 -07:00
uncrustify 4a44c6a1ba uncrustify libraries/AP_Motors/AP_MotorsTri.h 2012-08-21 19:04:07 -07:00
uncrustify d773a9c43b uncrustify libraries/AP_Motors/AP_Motors.h 2012-08-21 19:04:07 -07:00
uncrustify 4fe97c1e7b uncrustify libraries/AP_Motors/AP_MotorsMatrix.h 2012-08-21 19:04:07 -07:00
uncrustify b8cc5ac4af uncrustify libraries/AP_Motors/AP_MotorsY6.h 2012-08-21 19:04:07 -07:00
uncrustify 4cb9f57565 uncrustify libraries/AP_Motors/AP_MotorsHexa.h 2012-08-21 19:03:59 -07:00
uncrustify d3c856e889 uncrustify libraries/AP_Motors/AP_MotorsQuad.h 2012-08-21 19:03:59 -07:00
uncrustify 5ec922104a uncrustify libraries/AP_Motors/AP_MotorsHexa.cpp 2012-08-21 19:03:59 -07:00
uncrustify b982cca74e uncrustify libraries/AP_Motors/AP_Motors.cpp 2012-08-21 19:03:59 -07:00
uncrustify cc0c424eed uncrustify libraries/AP_Motors/AP_MotorsY6.cpp 2012-08-21 19:03:59 -07:00
uncrustify dc21cc1003 uncrustify libraries/AP_Motors/AP_MotorsOctaQuad.cpp 2012-08-21 19:03:59 -07:00
uncrustify c7f8c4dfa7 uncrustify libraries/AP_Motors/AP_MotorsMatrix.cpp 2012-08-21 19:03:59 -07:00
uncrustify 6c33f81e9d uncrustify libraries/AP_Motors/AP_MotorsOcta.cpp 2012-08-21 19:03:59 -07:00
uncrustify 41c1205f26 uncrustify libraries/AP_Motors/AP_MotorsQuad.cpp 2012-08-21 19:03:35 -07:00
uncrustify df5d1a8aef uncrustify libraries/AP_Motors/AP_MotorsTri.cpp 2012-08-21 19:03:35 -07:00
uncrustify 364b089bd3 uncrustify libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde 2012-08-21 19:03:35 -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
Jason Short e12ce1d5a7 MOTORS Mixer: temp removal of Yaw Contrib code 2012-08-09 17:00:11 -07:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Robert Lefebvre 4ffc5e211a Fixing Trad Heli Ext ESC Controller 
-Added ramp-down rate instead of instantly setting ramp to zero when throttle is dropped to bottom. This is to allow "warm-restart" if shutdown was unintentional.
-Actual ESC still goes to zero while throttle is dropped to the bottom, only the ramp counter winds down slowly behind the scenes.
 2012-07-31 17:47:25 -04:00
rmackay9 acef75319c AP_MotorsMatrix: small bug fix to limit checking on remove_motor call. Fix thanks to Michael Peschel! 2012-07-16 00:38:58 +09:00
Robert Lefebvre ed235a3924 Change to prevent Tricopter servos from going hard-over during Disarmed state. 
Believe this was an oversight when the change to AP_Motors went in.
 2012-07-13 23:12:26 -04:00
Robert Lefebvre 8ce9aae2f7 Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input". 
Since motors with increasing speed due to yaw input seem to generate more thrust that motors that slow lose thrust, thus net thrust goes up, causing copter to climb.
Values are a guesstimate, proven out by test flying.  This could probably become a parameter.
 2012-07-13 22:59:28 -04:00
rmackay9 b5f47f5e63 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Robert Lefebvre 238a1ced2c TradHeli adding ramp up time to Ch8 Throttle Pass-through. 2012-06-07 22:55:47 -04:00
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
Robert Lefebvre 56335e81e4 Fix TradHeli Collective Yaw Effect bug. 2012-05-25 15:25:21 -04:00
rmackay9 357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
Adam M Rivera 56d3fa1601 Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases 2012-04-28 20:50:41 -05:00
Adam M Rivera 239323eaa4 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
rmackay9 11a384a7ff AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228 2012-04-21 23:07:57 +09:00
rmackay9 53827f2e92 AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames. 2012-04-07 12:16:12 +09:00
rmackay9 127a990509 AP_MotorsOcta - V Frame - test order fix spotted by David Wiens 2012-04-07 08:11:28 +09:00
rmackay9 f6e1509d05 AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method. 2012-04-05 00:28:04 +09:00
rmackay9 1e20d7de88 AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used 2012-04-05 00:24:56 +09:00
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 926211f0f0 AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function. 
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
 2012-04-04 23:59:51 +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