Commit Graph

17 Commits

Author SHA1 Message Date
Randy Mackay 88da5bd453 Copter: sport mode restructured to match althold and feedback from mid-stick
This modifies sport mode to be structured like althold and loiter flight modes so that ongoing maintenance of the modes is hopefully easier.
Also changes throttle feedback to occur from mid-stick
2016-08-05 12:40:37 +09:00
Randy Mackay 53f0216269 Copter: sport - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
mirkix e3934fac80 ArduCopter: Delete (wrong) filename out of header 2016-07-25 17:13:41 -03:00
Leonard Hall e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 2016-06-18 11:55:49 +09:00
Randy Mackay 949d5f7109 Copter: add rangefinder_alt_ok
Reduces some duplicate code,no functional change.
2016-05-21 10:36:53 +09:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
skyscraper 6f200fa923 ArduCopter: Fix up after refactoring RC_Channel class
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 16:21:16 +10:00
Randy Mackay d37f70f767 Copter: sport uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Leonard Hall 8a49745e96 Copter: sport uses throttle in 0 to 1 range and sets motor spool state 2016-04-01 11:59:30 +09:00
Jonathan Challinger dfab21171b Copter: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:37 +09:00
Jonathan Challinger 9d8b0f3d58 Copter: call renamed functions in AC_AttitudeControl 2015-12-09 19:58:30 +09:00
bugobliterator 945bdee452 Copter: PILOT_VELZ_MAX and PILOT_ACCEL_Z take effect immediately 2015-11-18 22:12:41 +09:00
Leonard Hall 411e75b917 Copter: feed forward only used for AltHold, Loiter, PosHold
land modes use non-feedforward alt hold
2015-10-28 20:21:54 +09:00
Randy Mackay 82ad454864 Copter: log sonar_alt even when disabled 2015-06-17 12:46:55 +10:00
Randy Mackay 362a43c126 Copter: explicitly set alt_target_from_climb_rate parameter 2015-06-05 15:11:30 +09:00
Andrew Tridgell 278883c521 Copter: finished conversion to .cpp files
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
2015-05-30 15:21:19 +09:00
Andrew Tridgell 356ece3402 Copter: rename .pde files to .cpp files 2015-05-30 15:21:15 +09:00