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83 Commits

Author SHA1 Message Date
Leonard Hall 5b133934db AP_Motors: calc_roll_pwm based on throttle pwm range 2015-08-19 20:03:55 +09:00
Randy Mackay c9dedbd3b2 AP_Motors: remove multicopter only features 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:28 +09:00
Robert Lefebvre 61d6c5aa1d AP_Motors: Creation of AP_Motors_Multirotor class 2015-07-21 16:24:38 +09:00
Randy Mackay 8225e58454 AP_Motors: throttle_min method in 0 to 1000 range 
Previously the pwm range value was returned.  This value is only used by
the multicopter attitude controller's angle boost function.
 2015-07-20 20:44:46 +09:00
Robert Lefebvre 11214b3414 AP_Motors: move constraints to set_throttle 2015-06-22 13:52:59 +09:00
Randy Mackay 71e4bccecb AP_Motors: init members in constructor 
Also add f to end of float constants
 2015-05-25 22:13:41 +09:00
Robert Lefebvre b8181b6b90 AP_Motors: RCMAP fix 
Remove all RC Input channels passed as reference into AP_Motors.  All input handling self-contained inside AP_Motors.
Rework Tricopter to use internal servo calcs.
 2015-05-25 22:13:32 +09:00
Robert Lefebvre 73bafa131e AP_MotorsHeli: Overload output() 
To protect it from future interference from Multirotor code.
 2015-05-22 09:38:23 +09:00
Robert Lefebvre d3ce68a8ca AP_MotorsHeli: Overload update_throttle_filter() 
Do not reset filter to zero when disarmed to allow collective pitch servo movement.
 2015-05-22 09:38:20 +09:00
Randy Mackay 68b05a4ca2 AP_Motors: is_throttle_mix_min returns bol 2015-05-08 14:14:32 +09:00
Leonard Hall 0f894ac1a8 AP_Motors: Rename and move Throttle Mix / Comp 2015-05-08 14:14:17 +09:00
Andrew Tridgell 2e57c62ebb AP_Motors: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Randy Mackay 0acc06d713 AP_Motors: minor comment for interlock 2015-05-01 14:30:45 +09:00
Robert Lefebvre 6bdace30d2 AP_Motors: Add throttle interlock functionality 
AP_MotorsMatrix's output_armed_zero_throttle uses output_min default from base class
 2015-05-01 14:30:24 +09:00
Jonathan Challinger 348001e786 AP_Motors: add get_throttle_warn function 2015-05-01 12:56:11 +09:00
Jonathan Challinger 41ae7207c7 AP_Motors: scale roll/pitch/yaw gain for air density 2015-04-29 14:36:15 +09:00
Jonathan Challinger a07b322d31 AP_Motors: set_throttle takes a float 2015-04-24 16:30:45 +09:00
Jonathan Challinger 4993fd4d71 AP_Motors: use new lowpass filter 2015-04-17 10:46:47 +09:00
Jonathan Challinger e80776f1f5 AP_Motors: remove MOT_THR_FILT parameter and add interface to configure filter 2015-04-16 21:00:01 +09:00
Jonathan Challinger 8e442675a7 AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output 2015-04-16 20:59:40 +09:00
Jonathan Challinger a2c69fe90d AP_Motors: add optional motor output throttle filter 2015-04-16 20:59:31 +09:00
Leonard Hall 88be3d67e7 AP_Motors: add get for throttle comp 2015-04-16 13:29:50 +09:00
Jonathan Challinger 89cdd02f58 AP_Motors: remove duplicate get_throttle function 2015-04-01 10:15:05 -07:00
Jonathan Challinger 0e53c0a892 AP_Motors: make output_armed() and output_disarmed() pure virtual 2015-04-01 10:14:38 -07:00
Randy Mackay 5e26450a6f AP_Motors: make THR_LOW_COMP a variable instead of param 2015-03-10 12:20:27 +09:00
Leonard Hall 007c96a3d8 AP_Motors: Low throttle compensation setters 2015-03-10 12:20:21 +09:00
Leonard Hall 11a19803e0 Motors: add accessors for motor logging 
accessor include get_roll, get_pitch, get_yaw, throttle input
 2015-03-06 14:01:58 +09:00
Leonard Hall 3e960dfc3b Motors: add get_voltage_comp_gain 
This clarifies that lift_max is the inverse of the battery voltage gain
compensation
 2015-03-03 15:49:04 +09:00
Leonard Hall 997c6f0868 Motors: move battery resistance calcs to parent 
Moving from MotorsMatrix to parent Motors class allows these to be used
from other frame types
Also initialise battery resistance
 2015-03-03 15:49:02 +09:00
Randy Mackay 09d7cdbc23 Motors: batt_voltage_filt becomes filter object 2015-03-03 15:49:00 +09:00
Leonard Hall 529c6fed3a Motors: move over current throttle limiting to parent 
Moving from MotorsMatrix to parent Motors class allows this to be used
from other frame types
 2015-03-03 15:48:54 +09:00
Randy Mackay 1a9d3125ef Motors: _hover_out to pct * 10 instead of pwm 2015-03-03 15:48:50 +09:00
Leonard Hall 6b7bdf64bd Motors: move batt voltage lift_max calcs to parent 
Moving from MotorsMatrix to parent Motors class allows them to be used
by other frame types
Also added sanity check of batt_voltage_min
 2015-03-03 15:48:48 +09:00
Randy Mackay 2eaa4a8445 Motors: remove old throttle curve 2015-03-03 15:48:42 +09:00
Leonard Hall 751dbb7df7 Motors: move thrust curve and volt scaling to parent 
Moving from MotorsMatrix to Motors allows it to be used from other frames
 2015-03-03 15:48:41 +09:00
Randy Mackay 77d4b3a2ae Motors: add loop_rate to constructor 2015-03-03 15:48:32 +09:00
Leonard Hall 1d0ee68116 Motors: over current throttle limiting 2015-03-03 15:48:28 +09:00
Randy Mackay f6523c0997 Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control 2015-03-03 15:48:21 +09:00
Leonard Hall 83e3e2fec2 Motors: thrust curve and voltage scaling for matrix supported frames 2015-03-03 15:48:19 +09:00
Leonard Hall 5b0bd49ff2 Motors: configurable yaw headroom for matrix frames 2015-03-03 15:48:15 +09:00
Randy Mackay 677f6cce7f AP_Motors: reduce slow-start increment for fast CPUs 2014-10-18 20:54:08 +09:00
Jason Short b57539a9ad AP_Motors: throttle_pass_through accepts pwm 2014-09-19 22:21:45 +09:00
NullVoxPopuli c672b3e324 Copter: Added support for V-Shaped and A-Shaped VTail Quadcopter frames 
Signed-off-by: NullVoxPopuli <LPSego3+dev@gmail.com>
 2014-08-18 14:31:01 +09:00
Randy Mackay 5596001d39 AC_Motors: make get_throttle_out const 2014-08-04 21:04:09 +09:00
Randy Mackay 7749bfe82c Motors: add get_motor_mask method 
This returns a bitmask of output channels that are used by the motors
library.  This allows removing the chance of a do-set-servo interfering
with a motor or control surface used to control the vehicle.
 2014-07-26 16:33:14 +09:00
Randy Mackay 517732a34d AP_Motors: add get_throttle_out accessor 2014-07-18 11:39:27 +09:00
Vizual54 11d02ea5d2 AP_Motors: output_test for individual motors 
Modified and integrated by Randy Mackay
 2014-04-29 11:36:58 +09:00
L. Preston Sego III 3ecdc4b741 Copter: Add support for V-Tail Quads 2014-04-14 14:54:02 +09:00
Randy Mackay 96d433c63e AP_Motors: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 2f4fe3e192 AP_Motors: accessors to set roll, pitch, yaw, throttle 
This saves 16bytes of RAM and slightly reduces the dependence upon the
RC_Channel class as the interface.
 2014-02-15 05:27:49 +11:00