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80 Commits

Author SHA1 Message Date
Randy Mackay bff978570f AP_MotorsMulticopter: fixup check_mot_pwm_params 
fix _pwm_max is positive check
returns true if params are valid
constify method
 2020-01-30 10:01:54 +09:00
ashvath d97fdcac31 Copter: function for mot_pwm checks 2020-01-30 08:29:56 +09:00
Andrew Tridgell 37566d079f AP_Motors: support direct rate outputs for multicopters 2019-10-25 17:11:56 +11:00
Leonard Hall 6e8413f122 AP_Motors: Use safety timer to enable pwm before spool up 2019-10-16 08:46:49 +11:00
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
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() 
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