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63 Commits

Author SHA1 Message Date
Gone4Dirt 431cc25dca AP_MotorsHeli: Consolidate all autorotation state into its own class within RSC 2024-10-11 09:54:26 +11:00
Peter Barker 5f5fb40753 AP_Motors: re-order initialiser lines so -Werror=reorder will work 2024-09-24 22:50:28 +10:00
Peter Barker 90af3043bc AP_Motors: avoid use of AP_Logger.h in library headers 
this pulls in many more headers, we should avoid using it whereever we can
 2024-09-04 09:51:49 +10:00
Gone4Dirt 1de229debc AP_MotorsHeli_RSC: Make variables in constructor const 2024-08-14 23:39:01 -04:00
Gone4Dirt 7271a469fd AP_MotorsHeli: Move heli logging down to motors 2024-08-14 23:39:01 -04:00
Ferruccio Vicari 1c104557b7 AP_Motors: fix heli yaw behavior in autorotation 2024-04-18 11:13:50 -04:00
Iampete1 287e9726d7 AP_Motors: Heli: RotorControlState to enum class 2023-12-19 10:38:49 +11:00
Gone4Dirt 4b2c1368bd AP_MotorsHeli: move rotor_speed_above_critical to RSC so that it is actually used 2023-05-08 19:05:17 -04:00
Iampete1 81f3d3edda AP_Motors: Heli: get_output_mask return only motors 2023-05-05 22:20:16 -04:00
Bill Geyer 78720e9816 AP_MotorsHeli: patch for manual autorotation 2023-02-18 10:19:50 -05:00
Bill Geyer eba850d9ef AP_MotorsHeli: better governor power recovery from autorotation 2023-02-05 17:54:33 -05:00
Bill Geyer 40d18f46cf AP_MotorsHeli: Change AROT_PCT to AROT_IDLE 2023-02-05 17:54:33 -05:00
Bill Geyer 08165e204e AP_MotorsHeli: add comments to code 2023-02-05 17:54:33 -05:00
Bill Geyer a27ccb8294 AP_MotorsHeli: add support for manual autorotation 
AP_MotorsHeli: fix runup from idle bug

AP_MotorsHeli: don't let rotor_runup_output go below critical speed in autorotation

AP_MotorsHeli: set autorototate flag false after landing
 2023-02-05 17:54:33 -05:00
Ferruccio1984 e935913f95 AP_Motors: Support for Autorotation implementation 
-enables faster re-spool(user settable timer) after power engagement
-flare&touchdown controllers;
-rangefinder for distance from ground evaluation;
-higher refresh rate for rangefinder;
-attitude targets implementation for "guided" autorotation;
-retrieve zero lift collective position
 2023-02-05 17:54:33 -05:00
Iampete1 c1a9f75034 AP_Motors: params always use set method 2022-08-03 13:43:48 +01:00
Peter Barker 5d35d8a02c AP_Motors: include cleanups 2022-03-01 11:21:33 +11:00
Bill Geyer f7b420f131 AP_Motors: move turbine start to update_turbine_start and style cleanup 2022-02-23 14:22:47 +09:00
Ferruccio1984 3a67b17142 AP_Motors: tradheli support for turbine start 2022-02-23 14:22:47 +09:00
Bill Geyer afaff18bd0 AP_Motors: modifications based on suggested changes 2021-12-14 22:50:05 -05:00
MidwestAire 22c2329063 AP_Motors:Heli_RSC - throttle curve _control_output does not need a constrain_float 
- change lower limit of governor enaged output to 150% of idle speed
- add governor_reset() function
- remove governor defaults from header
- rearrange governor metadata in alphabetical order, assign new eeprom slot for rpm
 2021-12-14 22:50:05 -05:00
MidwestAire 77f0fdf112 AP_Motors:clean up whitespace in heli motors class 2021-12-14 22:50:05 -05:00
Bill Geyer 05e8285f93 AP_Motors: use RPM singleton to get rpm in RSC 2021-12-14 22:50:05 -05:00
MidwestAire 301238fb8a AP_Motors:Heli_RSC - update governor to new torque integrating design with autothrottle 2021-12-14 22:50:05 -05:00
MidwestAire 42a131522b AP_Motors:Heli - new rotor speed control modes for autothrottle governor 2021-12-14 22:50:05 -05:00
Bill Geyer 3b40df133e AP_Motors: add spool down complete flag 2021-12-05 22:12:13 -05:00
Gone4Dirt 6dc100728f AP_Motors: Fix spelling of autorotation flag 2021-02-08 22:09:49 -05:00
Patrick José Pereira bdc14c60fb AP_Motors: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Gone4Dirt b2d2bf61da AP_Motors: Support autorotation windows on external governors 2020-05-20 21:56:09 -04:00
Gone4Dirt 98a4335af4 AP_Motors: Added support for autorotation 2019-11-29 08:06:10 +08:00
bnsgeyer e91402aeb6 AP_Motors: tradheli-make all RSC params part of library 
AP_Motors: Tradheli-fix RSC mode change while armed

AP_Motors: tradheli - improve RSC param metadata

AP_Motors: tradheli-put all throttle param settings in percent
 2019-09-13 08:53:54 +09:00
ChristopherOlson b6bfc8947f AP_Motors:Heli Governor - change rotor_rpm argument to a float 2019-06-03 07:53:01 +09:00
bnsgeyer f1a32d7872 AP_Motors: Tradheli- modified thrcrv and gov parameter group names 2019-06-03 07:53:01 +09:00
ChristopherOlson b1046c7b80 AP_Motors:Heli_RSC Governor - add method of droop compensation 
- improve handling of outliers from speed sensor
 - change governor_tc variable to governor_thrcurve
 - remove equals zero from variable declarations
 2019-06-03 07:53:01 +09:00
bnsgeyer 4120e29614 AP_Motors: Tradheli-complete conversion of throttle curve params to percent 
add conversion for throttle curve params for upgrade
 2019-06-03 07:53:01 +09:00
bnsgeyer 3629541a20 AP_Motors: Tradheli - implement enable params for throttle curve and governor 2019-06-03 07:53:01 +09:00
bnsgeyer 51d4029f03 AP_Motors: Tradheli - maintain consistent variable types as used in calcs 
add override to declaration of new functions
 2019-06-03 07:53:01 +09:00
ChristopherOlson cca58e393a AP_Motors:Heli_RSC - add support for rotor speed governor with droop speed control 2019-06-03 07:53:01 +09:00
bnsgeyer 690e8fd3f4 AP_Motors: TradHeli - Changed RSC mode 3 to a spline fit throttle curve 2018-03-27 09:07:03 +11:00
Andrew Tridgell bdb9f062ae AP_Motors: removed unused pwm parameters for heli 2018-01-21 21:12:13 +11:00
Andrew Tridgell 55d5fe843e AP_Motors: added Heli_Quad backend 
supporting collective pitch quadcopters
 2017-10-03 10:16:41 +11:00
Andrew Tridgell 1ad5e1db4e AP_Motors: integrate AP_MotorsHeli_Dual 
fixed issues with combining with Heli_Single
 2017-03-25 16:22:10 +11:00
Andrew Tridgell 638f1364be AP_Motors: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
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
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 255bda9f9c AP_Motors: allow setting of loop rate 
this allows for SCHED_LOOP_RATE in copter
 2016-06-17 15:01:18 +10:00
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
Randy Mackay 832a226f13 AP_MotorsHeli_RSC: rotor speeds in 0 to 1 range 
Also move recalc_scalers functionality into update_rotor_ramp and update_rotor_runup
 2016-04-01 11:59:30 +09:00
Randy Mackay 4775843e3c AP_MotorsHeli_RSC: add get_idle_output accessor 2016-04-01 11:59:30 +09:00
Lucas De Marchi 7d9153feb8 AP_Motors: replace header guard with pragma once 2016-03-16 18:40:42 +11:00