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688 Commits

Author SHA1 Message Date
Andrew Tridgell 66c4995c9d AP_Motors: added get_desired_spool_state() 2016-08-04 09:43:40 -07:00
Andrew Tridgell 11975223dd AP_Motors: added H_RSC_POWER_NEGC and H_RSC_SLEWRATE 
this gives more control over throttle for petrol
helis. H_RSC_POWER_NEGC allows for a asymmetric V-curve, which allows
for less power being put into the head when landing or when sitting on
the ground. That can lead to significantly less vibration and chance
of ground oscillation. A heli not being flown with aerobatics does not
need to use high throttle at negative collective pitch.

The H_RSC_SLEWRATE allows for a maximum throttle slew rate to be
set. Some petrol motors can cut if the throttle is moved too
quickly. We had this happen at a height of 6m when switching from
ALT_HOLD to STABILIZE mode. It also lowers the chance of the blades
skewing in their holders with the sudden change of power when the heli
is disarmed. In general it is a bad idea to do instantaneous large
movements of a IC engine throttle.
 2016-07-03 18:29:05 +10:00
Andrew Tridgell bc7488e2f2 AP_Motors: fixed typos 2016-07-01 15:35:29 +10:00
Leonard Hall fe68fe65e2 AP_Motors: Single and Coax fix flap gains 2016-07-01 12:45:14 +09:00
Leonard Hall ba2382c409 AP_MotorsCoax: Fix servo 3 and 4 feed through sign 2016-06-20 09:45:17 +09:00
Andrew Tridgell 7a9b4c7572 AP_Motors: fixed motor load calculation 
scale to 1.0 for max collective
 2016-06-19 13:50:04 +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 23f8227e36 AP_Motors: bug fix to save params on disarm 
Previously was saving during arming  as well as disarming.
Thanks to OXINARF for finding this!
 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 a1b573ed0a AP_Motors: rename throttle_ave_max to throttle_avg_max 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
Leonard Hall 8fff32bde3 AP_MotorsSingle: fix stability patch use of throttle_hover 2016-06-18 11:55:49 +09:00
Leonard Hall e0f9fc8e40 AP_MotorsSingle: rename rpy_scale, thrust_min_rpy variables 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall da05902805 AP_MotorsCoax: fix stability patch use of throttle_hover 2016-06-18 11:55:49 +09:00
Leonard Hall 9bc866e771 AP_MotorsCoax: rename rpy_scale internal variable 
No functional change
 2016-06-18 11:55:49 +09:00
Leonard Hall 8bdb906b2b AP_MotorsCoax: fixes negative thrust 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 02881b59ff AP_MotorsMulti: float constants 2016-06-18 11:55:49 +09:00
Randy Mackay 79a73a5c2f AP_Motors: fix example sketch 
No need to set throttle_mix nor throttle_min
 2016-06-18 11:55:49 +09:00
Leonard Hall bee6c29b89 AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN 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 7e0e0ca874 AP_MotorsMulticopter: battery voltage compensation improvements 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 255bda9f9c AP_Motors: allow setting of loop rate 
this allows for SCHED_LOOP_RATE in copter
 2016-06-17 15:01:18 +10:00
Leonard Hall b3fcab8044 AP_Motors: minor comment fix 2016-06-09 09:49:00 +09:00
Andrew Tridgell f58d837026 AP_Motors: fixed heli RSC output range and float conversion 
adds H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
 2016-06-04 18:33:36 +10:00
Leonard Hall a16018f9fe AP_Motors: Missed Single fix 2016-05-31 12:44:17 +10:00
Leonard Hall d67f83559c AP_Motors: Single and Coax Fixes 2016-05-29 16:12:29 +10:00
Randy Mackay 72b86a3f99 AP_Motors: remove unused stabilizing flag 
Also initialise some members to resolve converity warnings
 2016-05-28 15:45:29 +09:00
Andrew Tridgell a2ed8fb313 AP_Motors: prevent negative thrust 
this prevents a sqrt of a negative number
 2016-05-26 17:09:11 +10:00
Andrew Tridgell 6855899cbf AP_Motors: fixed servo constructor for coax 2016-05-26 16:41:16 +10:00
Andrew Tridgell 4e5e301c4e AP_Motors: fixed servo constructor for heli 2016-05-26 16:41:06 +10:00
Andrew Tridgell f9fb098222 AP_Motors: fixed channel output for SingleCopter 2016-05-26 16:26:43 +10:00
Andrew Tridgell 65eb9ceb32 AP_Motors: expose min/max pwm 2016-05-26 14:33:57 +10:00
Andrew Tridgell a44b0e0011 AP_Motors: don't setup oneshot for a zero output mask 2016-05-26 12:18:49 +10:00
Fredrik Hedberg 75d5c87788 AP_Motors: Fix setpoint bug with 0~1 conversion in AP_MotorsHeli 2016-05-25 09:27:40 +09:00
Randy Mackay 8d1f50e78f AP_Motors: rename get_pwm_min to get_pwm_output_min 2016-05-24 10:00:25 +09:00
Randy Mackay 0c225cf498 AP_MotorsMulticopter: fix typo in comments 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
Ricardo de Almeida Gonzaga 2802775e7d AP_Motors: Fix typos 2016-05-13 19:20:06 -03:00
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
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
skyscraper de5130fa13 AP_Motors: RC_Channel refactor 
More fixing up of RC_Channel change access to
data members to functions
 2016-05-10 16:21:16 +10:00
skyscraper daec4ea10e AP_Motors: Fix up after RC_Channels refactor 
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
 2016-05-10 16:21:15 +10:00
Randy Mackay e41f798ba1 AP_Motors: remove unused set_stabilizing 2016-05-07 10:08:36 +09:00
Andrew Tridgell ff96085bd3 AP_Motors: allow arbitrary motor mapping with tricopters 2016-04-28 22:36:41 +10:00
Randy Mackay 7af9892bd1 AP_MotorsMatrix: make const a float 
resolves compiler warning
 2016-04-23 23:06:25 -07:00
Randy Mackay 72a7f674ec AP_Motors: protect against out-of-bounds memory access 
resolves a compiler warning
 2016-04-23 21:06:18 +10:00
Andrew Tridgell fd7c87e629 AP_Motors: allow enabling oneshot on a subset of motors 2016-04-22 13:24:04 +10:00
Andrew Tridgell f2c63e24c5 AP_Motors: allow tricopter motor 7 to be moved to any output 2016-04-22 08:32:03 +10:00
Andrew Tridgell 6df4d11d3f AP_Motors: ensure OneShot125 is within 125 to 250usec 2016-04-16 18:52:12 +10:00
Andrew Tridgell fe2065cd72 AP_Motors: rename MOT_PWM_MODE to MOT_PWM_TYPE 
Randy prefers TYPE
 2016-04-14 08:05:07 +10:00
Andrew Tridgell f54bcc6c7f AP_Motors: added oneshot support via MOT_PWM_MODE 
MOT_PWM_MODE=0 is normal
MOT_PWM_MODE=1 is oneshot
MOT_PWM_MODE=2 is oneshot125
 2016-04-14 08:05:05 +10:00
Randy Mackay 8d77bdec15 AP_MotorsMulti: minor comment fix 2016-04-14 05:45:24 +09:00
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 b39798ad90 AP_Motors: remove unused DESIRED_SPIN_MIN_THROTTLE 2016-04-01 11:59:30 +09:00
Randy Mackay dc86e1472c AP_MotorsTri: protect against div-by-zero if MOT_YAW_SV_ANGLE param was set to 90 2016-04-01 11:59:30 +09:00
Randy Mackay 9b5b6f3779 AP_MotorsHeli: constrain filtered throttle 
This is required because we have removed the constraint on the throttle input.  This also insures that there is no lag caused by the filtered throttle straying far outside the 0 to 1 range
 2016-04-01 11:59:30 +09:00
Randy Mackay b4a61e6ccf AP_Motors: remove constrain on throttle input 
This constraint is redundant because we already constrain the filtered throttle
 2016-04-01 11:59:30 +09:00
Leonard Hall fce426409e AP_MotorsTri: fix stab patch 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 3ee88fd8c7 AP_MotorsCoax: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay 8566a61660 AP_MotorsSingle: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay 8621774040 AP_MotorsTri: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay f4d94806e5 AP_MotorsMatrix: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 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 2e8acf1f74 AP_MotorsHeli: calculate_scalars made protected 
No functional change
 2016-04-01 11:59:30 +09:00
Randy Mackay bc1b8f415a AP_Motors: example sketch output limit flags 2016-04-01 11:59:30 +09:00
Randy Mackay c9055ccdb1 AP_Motors: example sketch tests Single and Coax 2016-04-01 11:59:30 +09:00
Randy Mackay 41c55ffbe7 AP_MotorsTri: use YAW_SV_REV to reverse yaw output 2016-04-01 11:59:30 +09:00
Leonard Hall 13d727c2c6 AP_MotorsTri: add YAW_SV_ANGLE parameter to capture yaw servo lean angle max 2016-04-01 11:59:30 +09:00
Randy Mackay c939cc1551 AP_MotorsTri: clarify YAW_SV parameter descriptions and comments 2016-04-01 11:59:30 +09:00
Leonard Hall 267513d864 AP_MotorsTri: fixes to output_armed_stabilizing 
Also minor comment fixes
 2016-04-01 11:59:30 +09:00
Leonard Hall 250a444e57 AP_MotorsCoax: fixes to stab patch 
Fix throttle_lower flag
Also some formatting changes
 2016-04-01 11:59:30 +09:00
Randy Mackay 20565580ed AP_MotorsCoax: remove disabling of output ch7 2016-04-01 11:59:30 +09:00
Randy Mackay 63fefae7cf AP_MotorsCoax: use calc_pwm_output_1ot1 instead of local calc_pivot_radio_output 2016-04-01 11:59:30 +09:00
Leonard Hall 840e60c930 AP_MotorsSingle: fixes to stab patch 
Fixes throttle_lower flag
Also some formatting changes
 2016-04-01 11:59:30 +09:00
Randy Mackay af9b18329c AP_MotorsSingle: use calc_pwm_output_1to1 instead of local calc_pivot_radio_output 2016-04-01 11:59:30 +09:00
Randy Mackay c4b88aafef AP_MotorsHeli: swash and tail servo objects moved into class 2016-04-01 11:59:30 +09:00
Randy Mackay 4f1e62d551 AP_MotorsHeli: remove reset_radio_passthrough 2016-04-01 11:59:30 +09:00
Randy Mackay b5593431bf AP_MotorsHeli_Single: replace collective_mid_pwm with collective_mid_pct 2016-04-01 11:59:30 +09:00
Randy Mackay 9790245bf1 AP_MotorsHeli: replace collective_mid_pwm with collective_mid_pct 2016-04-01 11:59:30 +09:00
Randy Mackay a39bbc5421 AP_MotorsHeli: servo_test in range -1 to 1 2016-04-01 11:59:30 +09:00
Randy Mackay a42706bdcc AP_Motors: remove unused example sketch to test timing 
This test was only important on the slower AVR boards
 2016-04-01 11:59:30 +09:00
Randy Mackay a3450b712c AP_Motors: fix example sketch 2016-04-01 11:59:30 +09:00
Leonard Hall 753b72b28c AP_MotorsY6: call normalise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall 13ab3ecfea AP_MotorsQuad: call normalise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall 7ac4fc5569 AP_MotorsOctaQuad: call normalise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00