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1094 Commits

Author SHA1 Message Date
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
Leonard Hall e182c10625 AP_MotorsOcta: call noramlise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall 733b89cf3c AP_MotorsHexa: call noramlise_rpy_factors in motor setup 2016-04-01 11:59:30 +09:00
Leonard Hall 8f8eb7e214 AP_MotorsMatrix: add normalise_rpy_factors 2016-04-01 11:59:30 +09:00
Randy Mackay e7ba5ae451 AP_MotorsMulticopter: fix get_hover_throttle_as_high_end_pct 2016-04-01 11:59:30 +09:00
Randy Mackay 4514e8d100 AP_MotorsHeli: remove slow_start 2016-04-01 11:59:30 +09:00
Randy Mackay c41a5dc3bd AP_MotorsMulticopter: remove slow_start 
This has been replaced with the spool logic feature
 2016-04-01 11:59:30 +09:00
Randy Mackay b436dde60c AP_Motors: remove slow_start 
This has been replaced with the spool logic feature
 2016-04-01 11:59:30 +09:00
Randy Mackay e863f0b9c0 AP_MotorsHeli: use AP_Motors set_radio_passthrough in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay 68a6408a23 AP_MotorsMulticopter: remove set_radio_passthrough 
This has been moved up to the AP_Motors class
 2016-04-01 11:59:30 +09:00
Randy Mackay 5ba3a6c536 AP_Motors: add set_radio_passthrough 2016-04-01 11:59:30 +09:00
Randy Mackay fe4733121d AP_MotorsHeli_Single: ext_gyro_gain in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay e1e4e37c92 AP_MotorsHeli_Single: use RSC class's get_idle_output function 
No functional change
 2016-04-01 11:59:30 +09:00
Randy Mackay 2cdc5da226 AP_MotorsHeli_Single: rotor speed functions in 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay 68945df45d AP_MotorsHeli_Single: write_aux uses 0 to 1 range 2016-04-01 11:59:30 +09:00
Randy Mackay b3334c3ae5 AP_MotorsHeli: rotor speed function in 0 to 1 range 2016-04-01 11:59:30 +09:00
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
Randy Mackay a63dba5b13 AP_MotorsHeli_Single: servo_test becomes protected 2016-04-01 11:59:30 +09:00
Randy Mackay cefd114964 AP_MotorsHeli_Single: remove unused accessors for tail_type, ext_gyro_gain, phase_angle 2016-04-01 11:59:30 +09:00
Randy Mackay f2fc39943e AP_MotorsHeli_Single: remove unused delta_phase_angle 2016-04-01 11:59:30 +09:00
Randy Mackay 381f538aca AP_HotorsHeli_Single: remove unused definition 2016-04-01 11:59:30 +09:00
Randy Mackay 27fed39671 AP_MotorsHeli_Single: remove roll_scalar, pitch_scalar 2016-04-01 11:59:30 +09:00
Randy Mackay 756236af35 AP_MotorsHeli: remove unused delta_phase_angle 2016-04-01 11:59:30 +09:00
Randy Mackay 16ac92be82 AP_MotorsHeli: remove unused definitions 2016-04-01 11:59:30 +09:00
Randy Mackay aeef6692cb AP_MotorsHeli: remove unused roll_scalar, pitch_scalar, collective_range 2016-04-01 11:59:30 +09:00
Randy Mackay 1a690772e1 AP_Motors: example sketch outputs headers 2016-04-01 11:59:30 +09:00
Randy Mackay 361b64f817 AP_Motors: example sketch uses AP_Motors set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay d4998089c8 AP_Motors: example sketch provides roll, pitch, yaw in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay 93597d152f AP_Motors: example sketch can test helicopter 2016-04-01 11:59:30 +09:00
Randy Mackay 47873c1d34 AP_MotorsHeli: fix RSC_SETPOINT param description 2016-04-01 11:59:30 +09:00
Randy Mackay bcbe6b279e AP_MotorsHeli: explicitely set ServoControlModes enum 
Non functional change but this enum is tied to a parameter value so the exact value is important
 2016-04-01 11:59:30 +09:00
Randy Mackay 8febcedf4b AP_MotorsHeli: remove unnecessary static declaration 2016-04-01 11:59:30 +09:00
Randy Mackay f022e504b0 AP_MotorsHeli: remove unused get_collective_mid and out methods 2016-04-01 11:59:30 +09:00
Randy Mackay a18722a2fc AP_MotorsHeli: output_min uses new move_actuators in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay 1197a439af AP_MotorsHeli: move_actuators to -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay 8057d2fc58 AP_MotorsMatrix: remove unnecessary virtual declarations 2016-04-01 11:59:30 +09:00
Randy Mackay 71866be652 AP_MotorsHeliSingle: move_yaw in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay f6120b801b AP_MotorsHeliSingle: move_actuators in -1 to +1 range 2016-04-01 11:59:30 +09:00
Randy Mackay 61cf8e1698 AP_Motors: add calc_pwm_output_1to1 and 0to1 
Convenience functions to convert from -1 to +1 input to pwm output
 2016-04-01 11:59:30 +09:00
Randy Mackay 56f05e6a96 AP_Motors: add set_desired_spool_state 2016-04-01 11:59:30 +09:00
Randy Mackay 2716126e40 AP_MotorsMulticopter: use desired_spool from AP_Motors class 2016-04-01 11:59:30 +09:00
Randy Mackay 93d1f1969c AP_MotorsMulticopter: remove set_desired_spool_state 
This is being moved to AP_Motors
 2016-04-01 11:59:30 +09:00
Randy Mackay 4dd4d38b9b AP_MotorsMulticopter: fix output_to_motors definition 2016-04-01 11:59:30 +09:00
Randy Mackay 3ae9b606ff AP_Motors: remove unnecessary output_to_motors declaration 
This is declared down in the AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Randy Mackay f2ff9e34ad AP_Motors: remove output_armed_zero_throttle 2016-04-01 11:59:30 +09:00
Leonard Hall 879e12ba43 AP_MotorsHeli_Single: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 97f0b00e3e AP_MotorsHeli: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall b701c109cf AP_MotorsSingle: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 1a308c2eb8 AP_MotorsCoax: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 4d208fcd47 AP_MotorsTri: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 027284fba0 AP_MotorsMatrix: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall ae4e495698 AP_Motors: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 90b3d7ca39 AP_Motors: example sketch tests stab patch more thoroughly 2016-04-01 11:59:30 +09:00
Leonard Hall cef3f42df5 AP_Motors: fix example make.inc 2016-04-01 11:59:30 +09:00
Leonard Hall d2a1cdf906 MotorsHeli: replace throttle_control_input with throttle_in 
throttle_control_input was 0 to 1000 range, throttle_in is 0 to 1
 2016-04-01 11:59:30 +09:00
Leonard Hall f02e8f8e01 AP_MotorsHeli: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 5cd4b78918 AP_MotorsSingle: remove reverse parameters 
No longer necessary because we can use individual servo reverse params
 2016-04-01 11:59:30 +09:00
Leonard Hall 6264159f4d AP_MotorsSingle: move servo objects into Single class 2016-04-01 11:59:30 +09:00
Leonard Hall 21d304b86d AP_MotorsSingle: output_to_motors implements spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall 24a100e429 AP_MotorsSingle: stability patch uses 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall cffdced838 AP_MotorsSingle: support 4 servo outputs 2016-04-01 11:59:30 +09:00
Leonard Hall f53d6e95e8 AP_MotorsSingle: rename _rev_roll to _roll_reverse 
Also rename _rev_pitch to _pitch_reverse and _rev_yaw to _yaw_reverse
 2016-04-01 11:59:30 +09:00
Leonard Hall 4db73d86af AP_MotorsSingle: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall 46ab198ebc AP_MotorsSingle: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 40c18891cf AP_MotorsCoax: remove reverse parameters 
No longer necessary because we can use individual servo reverse params
 2016-04-01 11:59:30 +09:00
Leonard Hall 260006dcb3 AP_MotorsCoax: move servo objects into Coax class 2016-04-01 11:59:30 +09:00
Leonard Hall 110d41ee24 AP_MotorsCoax: fix SV_SPEED param description 2016-04-01 11:59:30 +09:00
Leonard Hall 8d8f52b22f AP_MotorsCoax: output_to_motors implements spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall b85c20bb65 AP_MotorsCoax: stability patch in 0 to 1 range 
Also removes setting of limits in stability patch
sets outputs for additional 2 servos
 2016-04-01 11:59:30 +09:00
Leonard Hall 7df9b2eb8c AP_MotorsCoax: support 4 servo outputs 2016-04-01 11:59:30 +09:00
Leonard Hall 7d6c6b5556 AP_MotorsCoax: rename _rev_roll to _roll_reverse 
Also rename _rev_pitch to _pitch_reverse and _rev_yaw to _yaw_reverse
 2016-04-01 11:59:30 +09:00
Leonard Hall 5cb44901ff AP_MotorsCoax: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall 3df52aad5f AP_MotorsCoax: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 45a16d6dad AP_MotorsTri: implement output_to_motors for spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall d0a7579fa0 AP_MotorsTri: stability patch in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 80f77bc30b AP_MotorsTri: output_min does not set limits 2016-04-01 11:59:30 +09:00
Leonard Hall ba659be5cb AP_MotorsTri: rename _yaw_servo_reverse to _yaw_reverse 2016-04-01 11:59:30 +09:00
Leonard Hall 8c4d6d6fbe AP_MotorsTri: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall a2fdcfaf3f AP_MotorsTri: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 397940a9a4 AP_MotorsMatrix: implement output_to_motors 2016-04-01 11:59:30 +09:00
Leonard Hall cdec8f3387 AP_MotorsMatrix: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall b965857229 AP_MotorsMatrix: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall d0c6d087a5 AP_MotorsMatrix: do not set limits in output_min 2016-04-01 11:59:30 +09:00
Leonard Hall 3fef60da45 AP_MotorsMatrix: stability patch in 0 to 1 range 
Includes storing motor level thrusts to _thrust_rpyt_out
rename _throttle_thr_mix_desired to _throttle_rpy_mix_desired
rename _throttle_thr_mix to _throttle_rpy_mix
use get_hover_throttle_as_high_end_pct
use throttle_thrust_max updated by multicopter spool logic
do not set limits in stability patch
 2016-04-01 11:59:30 +09:00
Leonard Hall 5841310ac7 AP_MotorsMulticopter: update_throttle_filter limits throttle to 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall 420b90953c AP_MotorsMulticopter: throttle_radio_min, max to multicopter class 
Moved in from Motors class, only ever used by multicopters
No functional change
 2016-04-01 11:59:30 +09:00
Leonard Hall 2c9a02066d AP_MotorsMulticopter: remove unused functions and variables 2016-04-01 11:59:30 +09:00
Leonard Hall 290e657f61 AP_MotorsMulticopter: update_battery_resistance captures resting voltage while disarmed 
Previously it could also capture this when the input throttle was zero
 2016-04-01 11:59:30 +09:00
Leonard Hall bc42cb2a66 AP_MotorsMulticopter: update_battery_resistance uses get_throttle accessor 2016-04-01 11:59:30 +09:00
Leonard Hall 8228d9e72c AP_MotorsMulticopter: current_limit_max_throttle uses get_throttle accessor 2016-04-01 11:59:30 +09:00
Leonard Hall 3cbc15bb5b AP_MotorsMulticopter: add get_throttle_thrust_max accessor 2016-04-01 11:59:30 +09:00
Leonard Hall d7dc37bda0 AP_MotorsMulticopter: remove apply_thrust_curve_and_volt_scaling_pwm 2016-04-01 11:59:30 +09:00
Leonard Hall 06f25b669d AP_MotorsMulticopter: add roll, pitch, throttle and yaw pass through 2016-04-01 11:59:30 +09:00
Leonard Hall d7c27c949c AP_MotorsMulticopter: add spool_up_complete accessor function 2016-04-01 11:59:30 +09:00
Leonard Hall 983d2dc97a AP_MotorsMulticopter: update_throttle_filter does not set throttle_in 
get_throttle method now used to access filtered throttle
 2016-04-01 11:59:30 +09:00
Leonard Hall 3fc3858fbd AP_MotorsMulticopter: set_throttle_range calcs _min_throttle before use 2016-04-01 11:59:30 +09:00
Leonard Hall b26318c178 AP_MotorsMulticopter: output_logic implements spooling 2016-04-01 11:59:30 +09:00
Leonard Hall b7fe6aa16e AP_MotorsMulticopter: remove update_max_throttle 2016-04-01 11:59:30 +09:00
Leonard Hall be64c71065 AP_MotorsMulticopter: add get_current_limit_max_throttle 
returns the current limited maximum throttle as a number between 0 ~ 1 in the range throttle_min to throttle_max
 2016-04-01 11:59:30 +09:00
Leonard Hall 64ba45a683 AP_MotorsMulticopter: add spin_when_armed_low_end_pct 
returns the spin-when-armed value as a number from 0 to 1 in the range 0 to throttle_min
 2016-04-01 11:59:30 +09:00
Leonard Hall 49819d822f AP_MotorsMulticopter: add get_hover_throttle_as_high_end_pct 
Returns hover throttle as a number from 0 to 1 in the range from throttle_min to throttle_max
 2016-04-01 11:59:30 +09:00
Leonard Hall e625c105a4 AP_MotorsMulticopter: remove get_throttle_warn 2016-04-01 11:59:30 +09:00
Leonard Hall 3854f2eda7 AP_MotorsMulticopter: rename _throttle_thr_mix_desired to _throttle_rpy_mix_desired 
No functional change
Also rename _throttle_thr_mix to _throttle_rpy_mix
 2016-04-01 11:59:30 +09:00
Leonard Hall 65bbc23a08 AP_MotorsMulticopter: apply_thrust_curve_and_volt_scaling in 0 to 1 range 
existing equivalent pwm function becomes apply_thrust_curve_and_volt_scaling_pwm
 2016-04-01 11:59:30 +09:00
Leonard Hall cb39f8aab7 AP_MotorsMuticopter: calc_thrust_to_pwm converts thrust in 0 to 1 range to pwm 
pwm output is always between throttle min and throttle max
 2016-04-01 11:59:30 +09:00
Leonard Hall 80ddce103f AP_Motors: move set_throttle_filter_cutoff declaration 
No functional change
 2016-04-01 11:59:30 +09:00
Leonard Hall 649a8c461d AP_Motors: remove unused throttle_radio_min, max 
Moved to AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Leonard Hall e84011603c AP_Motors: remove unused throttle_pwm_scalar, rpy_pwm_scalar 2016-04-01 11:59:30 +09:00
Leonard Hall 8e1351e474 AP_Motors: init member to resolve compiler warning 2016-04-01 11:59:30 +09:00
Leonard Hall ed51c7a28d AP_Motors: replace throttle_control_input with throttle_in 
throttle_control_input was 0 to 1000 range, throttle_in is 0 to 1
 2016-04-01 11:59:30 +09:00
Leonard Hall c96b91efb6 AP_Motors: add output_to_motors 2016-04-01 11:59:30 +09:00
Leonard Hall ac579685df AP_Motors: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 666a92ae2f AP_Motors: set_throttle accepts 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 3c74b4cc69 Motors: add get_roll_thrust which returns roll input in range 0 to 1 
Also added get_pitch_thrust, get_yaw_thrust
 2016-04-01 11:59:30 +09:00
Peter Barker a66da7be00 AP_Motors: correct parameter documenation 2016-03-17 16:10:10 +11:00
Lucas De Marchi 7d9153feb8 AP_Motors: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
dgrat 5148e41c1a AP_Math: Cleaned macro definitions 
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
 2016-02-27 02:51:33 -03:00
Jonathan Challinger 9a09a86bb8 AP_Motors: add AP_MOTORS_DENSITY_COMP_DISABLED option 2016-01-27 09:18:09 +09:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa d281067bcc waf: make example binaries be placed in 'examples' dir 
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
 2016-01-15 16:46:41 -02:00
Andrew Tridgell b187a0c6eb AP_Motors: added quadplane frame type 
this puts the motors on outputs 5 to 8, to leave the first 4 for the
plane
 2016-01-09 07:38:51 +11:00
Randy Mackay b742ee9cfb AP_Motors: fix example sketch 2016-01-08 18:36:47 +09:00
Randy Mackay 6c458b07cb MotorsHeli_RSC: resolve compiler warning re init order 2016-01-07 12:31:49 +09:00
Andrew Tridgell 7c9ee9363b AP_Motors: added rc_map_mask() function 2016-01-06 22:09:40 +11:00
Andrew Tridgell dfccf8f713 AP_Motors: also wrap set_freq and enable_ch for motor mapping 2016-01-06 22:09:40 +11:00
Andrew Tridgell 77af00c5e1 AP_Motors: allow arbitrary mapping of channels on multirotors 
using RCn_FUNCTION with motor1, motor2 etc
 2016-01-06 22:09:40 +11:00
Andrew Tridgell 1b682e3c8f AP_Motors: swash servos are output only 2016-01-05 06:41:51 +11:00
Andrew Tridgell d31ba2b380 AP_Motors: added rc_write function 
this is intended to make remapping motors and rescaling output easier
 2016-01-04 16:56:54 +11:00
Andrew Tridgell 79c90d37f6 AP_Motors: apply HELI_RSC output type if available 2016-01-04 16:14:09 +11:00
Andrew Tridgell e1f4814068 AP_Motors: only set output side of range for RSC 2016-01-04 11:23:38 +09:00
Jonathan Challinger b803907163 AP_Motors: fix example build 2015-12-29 10:46:35 -08:00
Lucas De Marchi 8d252955f5 AP_Motors: don't link unused AP_Curve library 2015-12-28 10:23:23 -02:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Don Gagne ed7cd8d3f4 AP_Motors: fix invalid Range meta data 2015-12-27 16:10:44 +11:00
Robert Lefebvre 3a13db9333 AP_MotorsHeli: Add more parameter checks. 2015-12-07 14:51:42 +09:00
Lucas De Marchi c9d1456a66 AP_Motors: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:43 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Andrew Tridgell 47b9f6598a AP_Motors: allow change to heli rotor speed controls while armed 
this helps a lot with tuning for gas helis
 2015-11-27 15:12:03 +09:00
Caio Marcelo de Oliveira Filho 513f4fe986 AP_Motors: example uses millis/micros/panic functions 2015-11-20 12:32:16 +09:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
Robert Lefebvre b89b0d7f9e AP_MotorsHeli_Single: Move Servo_Test static variables to be class members 2015-11-12 19:37:37 +09:00
Robert Lefebvre bb7f8c1999 AP_MotorsHeli: Create Servo Test functionality 2015-11-12 19:37:34 +09:00
Robert Lefebvre eeb544d098 AP_MotorsHeli: Create SV_MAN=5=Oscillate servo setup mode. 2015-11-12 19:37:33 +09:00
Robert Lefebvre 4443ca9602 AP_MotorsHeli: Yaw servo to move when using SV_MAN param for setup. 2015-11-12 19:37:32 +09:00
Robert Lefebvre c2dff8749e AP_MotorsHeli: Change SV_MAN=2=Center to output _col_mid_pwm instead of 0 collective 2015-11-12 19:37:31 +09:00
Fredrik Hedberg 212eb85ff2 AP_MotorsHeli: Add min and max collective to manual servo modes 2015-11-12 19:37:30 +09:00
Robert Lefebvre 22729e6927 AP_MotorsHeli: Change servo manual #defines into enum 2015-11-12 19:37:29 +09:00
Robert Lefebvre 750728fa1e AP_MotorsHeli_Single: Add motor enable aux output functionality 2015-11-12 19:37:28 +09:00
Fredrik Hedberg 5fd7fe3e53 AP_Motors: Add manual servo override to center swash-plate for set-up in AP_MotorsHeli. 2015-11-12 19:37:25 +09:00
Jolyon Saunders ca28a49fa6 AP_Motors: Circular swash-plate limits for AP_MotorsHeli 2015-11-12 19:37:24 +09:00
Lucas De Marchi ca4ae1c9e0 AP_Motors: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Randy Mackay ca942f39dd AP_Motors_Heli: remove unused allow_arming check 2015-10-27 09:14:40 +09:00
Caio Marcelo de Oliveira Filho 417651b1dc AP_Motors: remove unnecessary board includes from examples 2015-10-21 09:16:12 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Lucas De Marchi f43f6c53f7 AP_Motors: Group writes to motors 
Surround calls to rcout->write() with rcout->cork() and rcout->push().
If the RCOutput implementation allows the writes are grouped and only
sent together to the underlying hardware.
 2015-10-06 10:42:18 +11:00
Lucas De Marchi e938075581 AP_MotorsCoax: get rid of _motor_to_channel_map 2015-09-29 12:01:41 +09:00
Lucas De Marchi ec4ebfde83 AP_MotorsSingle: get rid of _motor_to_channel_map 2015-09-29 12:01:28 +09:00
Lucas De Marchi 537599c01b AP_MotorsTri: get rid of _motor_to_channel_map 2015-09-29 12:01:14 +09:00
Lucas De Marchi 1572c9d4f4 AP_MotorsMatrix: get rid of _motor_to_channel_map 2015-09-29 12:00:56 +09:00
Lucas De Marchi 43268b9822 AP_MotorsHeli: get rid of _motor_to_channel_map 2015-09-29 12:00:18 +09:00
Lucas De Marchi 7ea141b774 AP_Motors_Multi: get rid of _motor_to_channel_map 2015-09-29 11:59:48 +09:00
Lucas De Marchi d97d97dc54 AP_Motors: get rid of _motor_to_channel_map 
This was only used for supporting APM1. The removal was mostly automatic
with:

    sed -i 's/pgm_read_byte(&_motor_to_channel_map\[\([^]]*\)\])/\1/g' libraries/AP_Motors/*.cpp
    sed -i 's/_motor_to_channel_map\[\([^]]*\)\]/\1/g' libraries/AP_Motors/*.cpp

And then remove references to MOTOR_TO_CHANNEL_MAP and
_motor_to_channel_map and make sure the variable used in shifts is
unsigned
 2015-09-29 11:59:25 +09:00
Andrew Tridgell f22a1d3e6d AP_Motors: display message in heli parameter_check() 2015-09-25 12:30:34 +10:00
Andrew Tridgell 9da2b2b430 AP_Motors: added H_GYR_GAIN_ACRO 2015-09-25 12:30:33 +10:00
Randy Mackay 1024790633 MotorsMulti: add throttle_max accessor 2015-09-07 15:10:02 +09:00
Randy Mackay e3ff4ed9c4 MotorsHeli: integrate RotorControlState 2015-08-31 11:43:59 +09:00
Randy Mackay cb47311416 MotorsHeli_RSC: add RotorControlMode enum 2015-08-31 11:43:58 +09:00
Randy Mackay 72efc85ee8 MotorsHeli_RSC: RotorControlState enum 2015-08-31 11:43:57 +09:00
Robert Lefebvre bde43412d8 AP_MotorsHeli: Fix RSC Mode 3 2015-08-31 11:43:55 +09:00
Robert Lefebvre 38ccd6e04f AP_MotorsHeli_RSC: Fix tail_type control 2015-08-31 11:43:54 +09:00
Robert Lefebvre 535da1d79a AP_MotorsHeli_Single: DDVPT to use it's own ramp and runup times 2015-08-31 11:43:51 +09:00
Robert Lefebvre 28318c4116 AP_MotorsHeli: Move Output functions into parent class 2015-08-31 11:43:50 +09:00
Robert Lefebvre 84102c3e3f AP_MotorsHeli: Rework how servo setup is done. 2015-08-31 11:43:49 +09:00
Robert Lefebvre 345663f705 AP_MotorsHeli: Simplify servo init/reset 2015-08-31 11:43:48 +09:00
Robert Lefebvre b11600aebe AP_MotorsHeli: Move set_delta_phase_angle into _Single class 2015-08-31 11:43:47 +09:00
Robert Lefebvre 3756c6b3f3 AP_MotorsHeli: Create RSC Throttle Curve mode for controlling gas engines. 2015-08-31 11:43:45 +09:00
Robert Lefebvre f853979816 AP_MotorsHeli: run RSC Control function in Output Min function 
Move Output_Min() function into Heli_Single class as it will eventually be overloaded by other helicopter class types.
 2015-08-31 11:43:44 +09:00
Robert Lefebvre 315f0408ae AP_MotorsHeli: RSC controller to use speed ramp as simple float scalar 2015-08-31 11:27:52 +09:00
Robert Lefebvre 91c7663ca2 AP_MotorsHeli: Set range of new RSC Servo object. 2015-08-31 11:27:51 +09:00
Robert Lefebvre cefa0c28a6 AP_MotorsHeli: RSC Mode 0 no longer a valid mode 2015-08-31 11:27:48 +09:00
Robert Lefebvre 981c96d8bc AP_MotorsHeli: Add more parameter checks 2015-08-31 11:27:47 +09:00
Robert Lefebvre ed08e9d531 AP_MotorsHeli_RSC: Split out rotor speed estimate into it's own function 2015-08-31 11:27:46 +09:00
Robert Lefebvre 064cc63512 AP_MotorsHeli: Colyaw function to check if rotor speed control is above idle 2015-08-31 11:27:45 +09:00
Robert Lefebvre 77e4bf39aa AP_MotorsHeli: rework RSC output() function to implement idle speed function 
Also, split out speed_ramp function
 2015-08-31 11:27:44 +09:00
Robert Lefebvre c3e7eed299 AP_MotorsHeli_Single: Fix recalc_scalars function 2015-08-31 11:27:42 +09:00
Robert Lefebvre 214d60abb9 AP_MotorsHeli: Create RSC_IDLE param 2015-08-31 11:27:41 +09:00
Robert Lefebvre 27f8d6bcd5 AP_MotorsHeli: Change RSC output() function into a state machine. 2015-08-31 11:27:40 +09:00
Robert Lefebvre 10b0be9e75 AP_MotorsHeli: Fully detail tradheli output functions and move manual servo handling 2015-08-31 11:27:39 +09:00
Robert Lefebvre 7dda0f651a AP_MotorsHeli: Rename tradheli servo objects for clarity 2015-08-31 11:27:38 +09:00
Robert Lefebvre 457d939e77 AP_MotorsHeli: Update includes so that it builds 2015-08-31 11:27:37 +09:00
Fredrik Hedberg e6119cf51f AP_Motors: Fix param indices in AP_MotorsHeli. 2015-08-31 11:27:36 +09:00
Fredrik Hedberg 411947ea7c AP_Motors: Rename output_yaw to move_yaw in AP_MotorsHeli_Single. 2015-08-31 11:27:35 +09:00
Fredrik Hedberg 1e8be73a27 AP_Motors: Fix formatting in AP_MotorsHeli_RSC. 2015-08-31 11:27:34 +09:00
Fredrik Hedberg e6957df54a AP_Motors: Fix param range comment in AP_MotorsHeli. 2015-08-31 11:27:33 +09:00
Fredrik Hedberg 97e09fa9b0 AP_Motors: Move traditional helicopter controls into AP_MotorsHeli_Single. 
Original commit by fhedberg, had to fix merge conflicts and now it appears I did the commit?
 2015-08-31 11:27:31 +09:00
Fredrik Hedberg af69a20ba5 AP_Motors: Break out yaw output in AP_MotorsHeli. 2015-08-31 11:27:30 +09:00
Fredrik Hedberg feb32f40ed AP_Motors: Break out servo init and reset in AP_MotorsHeli. 2015-08-31 11:27:29 +09:00
Fredrik Hedberg ae9a16dc27 AP_Motors: Move rotor speed control into AP_MotorsHeli_RSC. 2015-08-31 11:27:28 +09:00
Fredrik Hedberg 1bb6b65ce0 AP_Motors: Use C++11 initializers in AP_MotorsHeli. 2015-08-31 11:27:27 +09:00
Leonard Hall c357cb8f84 Copter: increase default thrust expo to 0.65 2015-08-23 16:42:05 +09:00
Gustavo Jose de Sousa 1e619c6c59 AP_Motors: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:19 +10:00
Randy Mackay f009c2ddb9 Motors_Multicopter: add MOT_THR_MIX_MAX parameter 
Allows controlling the prioritisation of throttle vs attitude control
during active flight
 2015-08-07 17:39:09 +09:00
Leonard Hall 1a583c5382 AP_Motors: calc_roll_pwm based on throttle pwm range 2015-08-03 14:12:49 +09:00
Randy Mackay 5032cf9fbc Copter: init multicopter flags 
Resolves coverity warning

Also fixed indentation
 2015-07-25 14:00:29 +09:00
Randy Mackay e31f2d26c4 MotorsMulticopter: move get_hover_throttle_as_pwm to protected 
No functional change
 2015-07-21 16:27:04 +09:00
Randy Mackay c7c6228b5d MotorsMulticopter: remove virtual from set_yaw_headroom 2015-07-21 16:27:01 +09:00
Randy Mackay 4843be49de AP_MotorsTri: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:48 +09:00
Randy Mackay f906934dfa AP_MotorsSingle: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:45 +09:00
Randy Mackay 112e934072 AP_MotorsMatrix: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:43 +09:00
Randy Mackay b1a4a6bf0a AP_Motors_Coax: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:40 +09:00
Randy Mackay 4d1dfd94f5 AP_MotorsMulticopter: multicopter features moved in from parent 
Also rename from multirotor to multicopter
 2015-07-21 16:25:37 +09:00
Randy Mackay 7355ac9cb8 AP_MotorsHeli: implement empty slow start method 2015-07-21 16:25:34 +09:00
Randy Mackay a3fab10ef4 AP_MotorsHeli: init roll_radio_passthrough 2015-07-21 16:25:31 +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 abb6eba291 AP_MotorsHeli: Change allow_arming check to use _rotor_speed_estimate 
In future, this will be used to check actual rotor speed (measured) if available, to prevent trying to arm with the rotor spinning.
 2015-07-21 16:25:21 +09:00
Robert Lefebvre 9fcbc77ce0 AP_MotorsHeli: Create rotor_speed_above_critical accessor 2015-07-21 16:25:11 +09:00
Robert Lefebvre 992c9c75bb AP_MotorsHeli: Create parameter_check method. 2015-07-21 16:25:04 +09:00
Robert Lefebvre e2fe640e6c Copter: Clean up helicopter allow_arming() function 2015-07-21 16:24:58 +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
Randy Mackay 6bf6442396 MotorsMatrix; protect against divide by zero 
This should never happen but just to be safe
 2015-07-20 20:44:43 +09:00
Randy Mackay fa60c3dce8 MotorsCoax: fix output_armed_stabilized min thr limit 2015-07-20 20:44:36 +09:00
Randy Mackay 8a308205ce MotorsSingle: fix output_armed_stabilized min thr limit 2015-07-20 20:44:32 +09:00
Randy Mackay bd9a605086 MotorsTri: fix output_armed_stabilized min thr limit 
_min_throttle is in the pwm range but was being used as if in the 0 to
1000 range
 2015-07-20 20:44:23 +09:00
Randy Mackay e53c46bd8f MotorsMatrix: fix output_armed_stabilized min thr limit 
_min_throttle was being used as if it were in the 0 to 1000 range when
in fact it is in the pwm range.  This meant the lower limit was too low.
 2015-07-20 20:44:14 +09:00
Robert Lefebvre e1902e2289 AP_MotorsHeli: Remove unused _dt variable. 2015-07-14 20:13:43 +09:00
Robert Lefebvre 11214b3414 AP_Motors: move constraints to set_throttle 2015-06-22 13:52:59 +09:00
Robert Lefebvre 0c92565d23 AP_MotorsHeli: add Critical Rotor Speed param, use to switch off runup_complete 2015-06-19 15:10:53 +09:00
Robert Lefebvre 3ad6700c5d AP_MotorsHeli: add getters for rotor speed 2015-06-19 15:10:51 +09:00
Robert Lefebvre 8b917b82ee AP_MotorsHeli: Simplify set_desired_rotor_speed function definition 2015-06-19 15:10:50 +09:00
Robert Lefebvre 79e8c8f7f7 AP_MotorsHeli: whitespace fixes 2015-06-19 15:10:47 +09:00
Randy Mackay 2849430341 AP_Motors: init flags 
resolves coverity issue
 2015-06-08 14:46:16 +09:00
Andrew Tridgell d746e8fa29 AP_Motors: mark examples as nobuild 
waiting for fix from Rob
 2015-06-01 17:27:33 +10:00
Andrew Tridgell 89baf2bdf1 AP_Motors: convert example from .pde to .cpp 2015-06-01 17:07:05 +10:00
Robert Lefebvre 1424b17a83 AP_Motors_Heli: Change default RSC_SETPOINT to 700 2015-05-29 17:46:25 +09:00
Robert Lefebvre d24664ccf9 AP_MotorsHeli: Semantic change. Motor Runup to Rotor Runup 2015-05-29 17:46:18 +09:00
Robert Lefebvre 65ca09600c AP_Motors: Heli eliminate _dt member and fix rsc_runup calculation 2015-05-29 17:46:09 +09:00
Randy Mackay d777166c6f AP_MotorsTri: revert tail servo to Ch7 2015-05-25 22:27:38 +09:00
Randy Mackay 1a1fa7ca4b AP_MotorsHeli: add comment to avoid param conflict 2015-05-25 22:13:49 +09:00
Randy Mackay 4c94a69e33 AP_MotorsCoax: resolve param conflict with TradHeli 2015-05-25 22:13:47 +09:00
Randy Mackay 78b49fb4c6 AP_MotorsSingle: resolve param conflict with TradHeli 
Also rename servo reverse parameters to be consistent with tricopter
 2015-05-25 22:13:45 +09:00
Randy Mackay 8dc7cf7fa8 AP_MotorsTri: YAW_SV_REV values -1 or +1 
Also resolve parameter conflict with TradHeli
 2015-05-25 22:13:43 +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
Jonathan Challinger 28731d2bdc AP_Motors: add throttle filter input constraint from -100 to 1100 2015-05-22 16:12:27 +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 3d9a6a69e2 MotorsHeli: COLYAW to float 2015-05-08 14:14:36 +09:00
Randy Mackay edfa206bb8 Motors_Heli: nest heli params 2015-05-08 14:14:35 +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 b223e90ef6 AP_Motors: fix example sketches 2015-05-01 20:58:20 +09:00
Randy Mackay 0acc06d713 AP_Motors: minor comment for interlock 2015-05-01 14:30:45 +09:00
Robert Lefebvre 1a482de5e2 AP_MotorsHeli: Overload output_armed_zero_throttle 2015-05-01 14:30:25 +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
Randy Mackay bae1722946 AP_Motors: get_compensation_gain gets div-by-zero check 2015-04-29 14:36:22 +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 e2ba351149 AP_Motors: refactor apply_thrust_curve_and_volt_scaling 2015-04-29 14:36:12 +09:00
Jonathan Challinger a07b322d31 AP_Motors: set_throttle takes a float 2015-04-24 16:30:45 +09:00
Tom Pittenger a5ffadf201 AP_Motors: fix compile warnings re float constants 2015-04-24 14:04:00 +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 bc2afb31dd AP_Motors: virtual not necessary in child class 2015-04-16 20:59:37 +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
Leonard Hall 791fbcf9b3 AP_Motors_Class: time constants of throttle comp 2015-04-16 13:29:46 +09:00
Andrzej Zaborowski 132cdc4916 Motors: Use _motor_to_channel_map in tricopter consistently. 
In AP_MotorsTri.cpp the AP_MOTORS_MOT_1, _2 and _4 constants are
always mapped to actual output channels through _motor_to_channel_map
while the _CH_TRI_YAW is not, but there were a few inconsistencies
in this that could lead to things like PWM min and max values being
set on wrong channels.

It looks like all in all _motor_to_channel_map being in PROGMEM
probably doesn't help save memory and I'm not sure how useful it is
in the first place but regardless the usage should be consistent.
 2015-04-09 11:43:22 +09:00
Jonathan Challinger 1828515b3b AP_Motors: bug fix to _batt_voltage_filt 2015-04-01 10:15:06 -07:00
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 385b3744ea MotorTri: check servo_out above min_throttle 2015-03-16 14:49:38 +09:00
Randy Mackay f9e29a7f77 MotorSingle: check servo_out above min_throttle 
We need to recalc radio_out or the motors could fall below min throttle
 2015-03-16 14:49:37 +09:00
Randy Mackay 8de5d16f96 MotorCoax: check servo_out above min_throttle 
We need to recalc radio_out or the motors could fall below min throttle
 2015-03-16 14:49:35 +09:00
Leonard Hall 31a55b2bd6 MotorsMatrix: fix div by zero by ensuring throttle is above min 2015-03-16 14:49:31 +09:00
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 6275ee0289 AP_Motors: Check for battery voltage reading fail 2015-03-10 12:20:19 +09:00
Leonard Hall 3ad9b1a06b AP_MotorsMatrix: remove incorrect throttle limit flag 2015-03-06 14:02:55 +09:00
Jonathan Challinger d148039f65 AP_Motors: stricter batt_voltage misconfiguration check 2015-03-06 14:02:49 +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
Randy Mackay f5f7cd540f Motors: fix example sketches 2015-03-03 21:39:24 +09:00
Leonard Hall cf8c211c35 Motors: fix thrust curve and add constraint 2015-03-03 15:49:07 +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 812473fd9a MotorsMatrix: use get_hover_throttle_as_pwm 2015-03-03 15:48:52 +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 c549b58eb7 MotorsMatrix: remove check of throttle_curve_enabled 2015-03-03 15:48:46 +09:00
Randy Mackay 5fb3de48ee MotorsTri, Single, Coax: use new thrust curve 2015-03-03 15:48:44 +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 80b498f598 Motors: add loop_rate to test sketch 2015-03-03 15:48:39 +09:00
Randy Mackay 7ab76dbd0e Motors: add loop_rate to constructor for all frames 2015-03-03 15:48:34 +09:00
Randy Mackay 77d4b3a2ae Motors: add loop_rate to constructor 2015-03-03 15:48:32 +09:00
Leonard Hall ec9d7dd99e Motors: minor comment fixes 2015-03-03 15:48:30 +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 3550e52560 MotorsTri: add 80% throttle limit 
This limit was moved from the main copter flight code to the motors
library in order that the throttle_upper flag could be set properly.
 2015-02-02 22:31:06 +09:00
Randy Mackay 38702a7e23 Motors: fix example sketch 2015-01-28 17:15:45 +09:00
Robert Lefebvre a2958e2ffd AP_MotorsSingle: Fix parameter comments. 2014-11-08 10:18:03 +09:00
Randy Mackay 677f6cce7f AP_Motors: reduce slow-start increment for fast CPUs 2014-10-18 20:54:08 +09:00
Randy Mackay 6690aff305 AC_Motors: param description addition 2014-10-14 12:43:22 +09:00
Randy Mackay 793ed20534 CoaxCopter: set throttle upper and lower flags 2014-10-04 23:49:19 +09:00
Randy Mackay 57f6d0ff60 SingleCopter: set throttle upper and lower flags 2014-10-04 23:49:16 +09:00
Randy Mackay 85fb4b122a MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag 
Also trigger throttle_upper flag when throttle in reaches 1000
 2014-10-04 23:49:14 +09:00
Randy Mackay 91e5201439 Tri: _min_throttle interpreted as 0~1000 range for throttle_lower flag 
limit.throttle_lower flag becomes true when the throttle passed into the
motors lib (which is in the 0 ~ 1000 range) is below _min throttle.
This makes the interpretation of the THR_MIN parameter consistent
between the main code (which uses 0 ~ 1000 range) and the motors lib
(which previously used the RC3_MIN ~ RC3_MAX range).
The remaining problem however is that the output of the motors continues
to use THR_MIN as if it were a pwm.  I don't believe this is a dangerous
problem however.
 2014-10-04 23:49:11 +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 9b9f6cd47a AC_MotorsHeli: init member to resolve compiler warning 2014-08-14 11:27:33 +09:00
Andrew Tridgell 2e83555892 AP_Motors: fixed example build 2014-08-13 21:48:35 +10:00
Randy Mackay 5596001d39 AC_Motors: make get_throttle_out const 2014-08-04 21:04:09 +09:00
Randy Mackay b665ebd7a0 MotorsMatrix: implement get_motor_mask 2014-07-26 16:33:24 +09:00
Randy Mackay d73605ece8 MotorsCoax: implement get_motor_mask 2014-07-26 16:33:22 +09:00
Randy Mackay 72c3e9cc72 TradHeli: implement get_motor_mask 2014-07-26 16:33:20 +09:00
Randy Mackay 6d99524e56 MotorsSingle: implement get_motor_mask 2014-07-26 16:33:18 +09:00
Randy Mackay 6ae855c1cf MotorsTri: implement get_motor_mask 2014-07-26 16:33:16 +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
Andrew Tridgell d9f20c6785 AP_Motors: fixed example build 2014-07-25 17:54:51 +10:00
Randy Mackay 517732a34d AP_Motors: add get_throttle_out accessor 2014-07-18 11:39:27 +09:00
Andrew Tridgell e448168ba6 AP_Motors: fixed example build 2014-07-14 10:41:16 +10:00
bugobliterator e6f27c9fac AP_Motors_Time_test.pde: use hal.scheduler->micros instead of gettimeofday 2014-07-14 09:31:59 +10:00
bugobliterator fb7ca9bb3c AP_Motors:add AP_Motors_Time_test 2014-07-14 09:29:45 +10:00
Víctor Mayoral Vilches d43c1cc544 AP_Motors_test: Adapt to test bench available 2014-07-14 09:29:08 +10:00
Robert Lefebvre 92bdf24dba AP_MotorsHeli: Add To-Do. Swash setup hasn't seemed to work right for a while, this might be why. Confirm later. 2014-07-13 17:11:22 +09:00
Robert Lefebvre 789b1018fc AP_MotorsHeli: Change set_delta_phase_angle so that it forces recalculation of collective factors. 2014-07-08 20:18:39 +09:00
Robert Lefebvre fd542e99d8 AP_MotorsHeli: Create Delta Phase Angle variable and method to set. Will be used by CCComp code. 2014-07-08 20:18:34 +09:00
Robert Lefebvre 0680b88abd AP_MotorsHeli: Add main loop rate time variable and method. Change RSC increment calc to account for loop rate time. 2014-07-08 20:18:20 +09:00
Robert Lefebvre 979abb9fbd TradHeli: Cause DDVP Tail Motor to stop immediately when Ch8 is 0. 2014-07-08 20:18:02 +09:00
Randy Mackay 5cc26569fc AP_Motors: fix example sketch 2014-04-29 20:46:34 +09:00
Randy Mackay 2be99d7a92 TriCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:16 +09:00
Randy Mackay 07766e55f9 SingleCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:14 +09:00
Randy Mackay 3610cfe24c TradHeli: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:13 +09:00
Randy Mackay 8f74f5b3b0 CoaxCopter: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:12 +09:00
Randy Mackay d63d82ec17 MotorMatrix: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:10 +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 b78e59ea30 AP_Motors: add stability patch test to example sketch 2014-04-09 21:21:29 +09:00
Jonathan Challinger 9959a44453 AP_Motors: properly constrain thr_adj_max 2014-04-07 14:14:32 +09:00
Andrew Tridgell efdb678e00 AP_Motors: fixed example build 2014-04-07 11:55:56 +10:00
Andrew Tridgell 866e32f059 AP_Motors: removed unused variable 2014-02-26 09:40:39 +11:00
Randy Mackay d761ddd4af AP_Motors: fix example sketch 2014-02-15 06:09:08 +11:00
Randy Mackay 8d6eb1eceb MotorsMatrix: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 134289af38 TradHeli: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 1bee56877c CoaxCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 3fad8e3630 SingleCopter: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 0edf039155 AP_MotorsTri: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 96d433c63e AP_Motors: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 415e48de19 TriCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 01d30271d8 SingleCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 18d3907928 TradHeli: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay cf1d6854b9 AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels 2014-02-15 05:27:49 +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
Randy Mackay 2c6470f87b AP_MotorsMatrix: remove unused _num_motors 
Saves 1 byte of RAM
 2014-02-15 05:27:49 +11:00
Randy Mackay 32a0992985 MatrixMotors: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay 2f3fc3a3ce Single: remove use of motor_out array 
Also allow fins to move when throttle at zero
 2014-02-15 05:27:48 +11:00
Randy Mackay a036009524 AP_MotorsTri: motor_out array made local 2014-02-15 05:27:48 +11:00
Randy Mackay 83321b8786 AP_Motors: remove motor_out array 
Saves 16bytes of RAM
 2014-02-15 05:27:48 +11:00
Randy Mackay 80ec61f217 TradHeli: make accessor methods const 2014-02-15 05:27:43 +11:00
Randy Mackay 48a0917670 Copter: make motors armed call const 2014-02-15 05:27:43 +11:00
Randy Mackay a0298aee29 AP_Motors: expose throttle min and max 2014-02-15 05:27:34 +11:00
Dan Neault 262d384025 Coax: Yaw fix 
Was using _rc_yaw servo_out instead of pwm_out to modify motors.
Corrected and less touchy in Yaw
 2014-02-11 11:05:02 +09:00
Randy Mackay 14409ee20f Copter: disable aux channels used for motors 2014-02-07 22:04:27 +09:00
Randy Mackay 7c25247c87 Copter: disable aux channel 7 for SingleCopter 
Move servo range setup to AP_MotorsSingle
 2014-02-07 22:04:26 +09:00
Randy Mackay 9b594dc5e1 Copter: disable aux channel ch7 for Tri 2014-02-07 22:04:24 +09:00
Randy Mackay 1426078cdb TradHeli: disable aux channels 7 and 8 2014-02-07 22:04:23 +09:00
Dneault 5213ec4aa6 Coax: servos to ch1, ch2, motors to ch3, ch4 2014-02-07 12:36:19 +09:00
Randy Mackay f60d94c4ab Coax: remove unused servo3, servo4 
Removed commented out code
 2014-02-07 12:36:06 +09:00
Dneault f48e106271 Copter: add coax heli support 
Motors should be attached to RCOutputs 1 and 2, Flaps should be connected
to RC outputs 3 and 4
 2014-02-07 12:36:04 +09:00
Robert Lefebvre d441354961 TradHeli: Minor change to two param defaults 
Also one param name in the code clarified.
 2014-01-10 10:52:17 +09:00
Robert Lefebvre 782ce54a5c TradHeli: Fix for yaw offset switching. Yaw Offset should switch on and off with the main motor, not waiting until the rotor has reached full speed. 2013-12-15 11:24:09 +09:00
Randy Mackay 343ea66cd1 Copter: add OctaQuad V frame 2013-12-12 21:17:49 +09:00
Randy Mackay 279d515e59 Copter: Y6 new motor factor fix 2013-12-12 11:57:04 +09:00
Randy Mackay 4148c4e024 TradHeli: bug fix for main rotor ramp up 
The main rotor ramp was being held back by the rotor speed estimate
instead of being allowed to jump up to the estimate if it's lower.

Also fixed some incorrect indentation
 2013-12-05 21:24:20 +09:00
Randy Mackay 8149b54807 Copter: add Y6 with all top props CW 
Set FRAME parameter to 10
 2013-12-03 23:22:14 +09:00
Randy Mackay 90937be3d4 AP_Motors: fix example sketch 2013-11-28 11:34:00 +09:00
Randy Mackay f9e19b8006 TradHeli: remove use of motor_out array 
No longer required for logging purposes as we have RCOU
 2013-11-27 22:33:02 +09:00
Randy Mackay 851a538692 Copter: motor matrix comment change 2013-11-27 22:33:01 +09:00
Randy Mackay 652b4b4fe5 SingleCopter: motor test flaps servos in order 2013-11-27 22:33:00 +09:00
Randy Mackay ccedf98238 Tri: call output_min at end of motors test 
Minor change to comments
 2013-11-27 22:32:49 +09:00
Randy Mackay 9f2086baf2 Copter: make motor_out array private 
With new method of logging rc outputs access to the motor_out array is
not longer required
 2013-11-27 21:55:28 +09:00
Andrew Tridgell 316ec5864e AP_Motors: removed incorrect Makefile target 2013-11-23 18:50:55 +11:00
Randy Mackay afbb199544 TradHeli: remove slash from parameter description 
This may fix the issue in which the parameter descriptions are appearing
twice on the arducopter-parameters wiki page
 2013-11-19 11:23:07 +09:00
Randy Mackay 330aa95769 Copter: default MOT_SPIN_ARMED to 70 2013-11-18 17:00:17 +09:00
Randy Mackay 7233a567fb TradHeli: add accessor for phase_angle 2013-11-15 22:58:41 +09:00
Randy Mackay c9c803ffd4 TradHeli: move STAB_COL_MIN to main parameter list 2013-11-15 22:58:32 +09:00
Randy Mackay b71c6bfd76 TradHeli: add RSC_RUNUP_TIME param and rotor speed estimate 2013-11-15 22:58:29 +09:00
Randy Mackay bc4dba0eea TradHeli: ext gyro gain range 0 to 1000 2013-11-15 22:58:26 +09:00
Randy Mackay 197fc67897 TradHeli: move pilot desired rotor speed to heli.pde 2013-11-15 22:58:24 +09:00
Randy Mackay 942c14258b TradHeli: ramp up changes 
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
 2013-11-15 22:58:13 +09:00
Robert Lefebvre 9ac051c56d TradHeli: BugFix to ColYaw 
Credit to Jolyon Saunders for finding this bug.
 2013-11-15 22:58:11 +09:00
Robert Lefebvre 4426060ccc TradHeli: COLYAW not applied when the motor is not running 2013-11-15 22:58:06 +09:00
Robert Lefebvre 9ae66c1773 TradHeli: add support for drive tail rotors 
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
 2013-11-15 22:58:04 +09:00
Randy Mackay 7ae0d3320b TradHeli: add landing collective min 2013-11-15 22:57:58 +09:00
Randy Mackay 1f65bb537f TradHeli: add get_pilot_desired_collective 
Perhaps this should be moved to the main code's heli.pde sketch
 2013-11-15 22:57:51 +09:00
Randy Mackay 13a412ee21 TradHeli: make parameters and variables private 
add accessors for variables and params required in main code
replace tabs with spaces
 2013-11-15 22:57:41 +09:00
Randy Mackay 2cc48ffcd6 Copter: formatting and param description changes 2013-11-15 22:57:37 +09:00
Randy Mackay d54b1ea446 CopterMotors: fix example sketch 2013-11-14 22:27:10 +09:00
Randy Mackay ce045c77a4 Copter: remove unused variable from Single copter 2013-11-14 22:26:53 +09:00
Randy Mackay 14dc1a1c88 Copter: add @User and @Increment to motor params description 2013-11-13 12:28:59 +09:00
Randy Mackay e53c57b0a6 Copter: default SPIN_WHEN_ARMED to zero 2013-11-13 12:28:01 +09:00
Randy Mackay 81d83f1c55 SingleCopter: formatting changes 
replace tab with 4-spaces
remove blank lines
 2013-11-12 23:40:29 +09:00
ssq870424 07d3f2a3c5 Copter: add support for singlecopter airframe 
this is the newest singlecopter airframe programme.
This kind of aerial vehicles include Honeywell T-hawk and Goldeneye.
 2013-11-12 23:40:27 +09:00
Robert Lefebvre 5d946be77c TradHeli: Change user description for COLYAW parameter. 2013-11-03 12:56:59 +09:00
Randy Mackay bb1664185f Copter: correct @Range of MOT_TCRV_MAXPCT parameter 2013-10-30 20:53:21 +09:00
texlan 78acea820f Copter: fix symmetry in stability patch for Tricopters 
Removes the "Increase opposing motors by 1/2 the overage of the high
motor" logic and merely moves all 3 motors down by the same amount if
one is over out_max. This eliminates the asymmetric scaling of
the previous logic when more than one motor is over out_max. This
resolves #537
 2013-10-21 20:12:53 +09:00
Randy Mackay 943d7374f6 Copter: slow start motors from 0 to min throttle 2013-10-20 14:51:35 +09:00
texlan 53553751d1 Copter: Correctly set limit.lower flags for Tricopters 
Resolves #536
 2013-10-19 23:08:25 +09:00
Randy Mackay e0c4785b2a Copter: OctaQuad H-frame support 2013-10-18 10:41:07 +09:00
Randy Mackay d3fcfe669d Copter Motors: increase MOT_SPIN_ARMED to int16 2013-09-18 13:28:01 +09:00
Andrew Tridgell 5bef6dd539 AP_Motors: fixed example build 2013-09-13 10:53:53 +10:00
Randy Mackay 0a047ae1c1 Copter Motors: increased spin-when-armed to 70 
Changed choices to be displayed in ground stations
 2013-09-12 22:36:04 +09:00
Randy Mackay 62cb5c172b Copter Motors: add slow start feature 
Combined armed, frame orientation and slow_start into flags bitmask
Removed ability to set max throttle because it was never used
Re-ordered class variables
 2013-09-12 22:27:44 +09:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell 01387a1553 AP_Motors: fixed examples build 2013-08-30 13:01:39 +10:00
Randy Mackay 0797489ad8 Motors: use AP_Notify static flags variable 2013-08-30 13:01:35 +10:00
Randy Mackay f8a872f01e AP_Motors: update notify 2013-08-30 13:01:34 +10:00
Randy Mackay 8d26fb5581 Copter Motors: by default spin motors at 65 when armed 2013-07-28 18:18:52 +09:00
Randy Mackay fe412437c2 Copter: add flags for upper and lower throttle limits 
Freeze desired altitude when motors hit a limit
 2013-07-28 18:18:39 +09:00
Randy Mackay f3a2db195e Copter Motors: remove old style stability patch 2013-07-25 15:34:04 +09:00
Randy Mackay 43379f20c3 Copter Motors: replace limit bitmask with structure 2013-07-21 13:58:24 +09:00
Robert Lefebvre c812d07993 TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future. 2013-07-19 16:16:08 +09:00
Robert Lefebvre 957cb094ea TradHeli: Remove unused RSC Mode 3. 2013-07-19 16:16:06 +09:00
Randy Mackay 336357fbaf Copter: ensure _spin_when_armed is not higher than _min_throttle 2013-07-16 15:25:57 +09:00
Randy Mackay 62f3eed4e0 Copter: fix to SPIN_ARMED parameter desciption 2013-07-16 12:59:38 +09:00
Randy Mackay b709b90a59 Copter: implement safety spin for Tricopters 2013-07-16 12:48:01 +09:00
Randy Mackay 6477c746cd Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED 
Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
 2013-07-16 12:47:59 +09:00
Jonathan Challinger 2725f219cb Copter: Warn user with motors while copter is arming 2013-07-16 12:47:51 +09:00
Jonathan Challinger ae2b1e3b7e AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach 2013-07-16 12:47:49 +09:00
rmackay9 073e2c9f15 ACMotors: bug fix to yaw limit 2013-07-05 13:51:59 -10:00
Randy Mackay 76028fc9d3 Copter Motors: use _min_throttle in output_test 2013-05-31 15:16:04 +09:00
Randy Mackay 28f2f87b26 Copter Motors: minor formatting change 2013-05-31 15:16:04 +09:00
Andrew Tridgell 81f7ae9108 AP_Motors: fixed indent-tabs-mode 2013-05-30 09:51:34 +10:00
Randy Mackay ec7ee47099 Copter: scaling stability patch 2013-05-27 11:21:31 +09:00
Randy Mackay 6a65a32de2 CopterMotors: add formatting info to top of files 2013-05-20 10:48:42 +09:00
Randy Mackay 5235f4cacd Copter: allow Tri copters to init ESCs through APM/PX4 2013-05-19 17:28:39 +09:00
Randy Mackay 610edd8f9a ACMotors: small formatting change 2013-05-14 19:01:53 +09:00
Randy Mackay cd5795a4ac ACMotors: make a few more functions non-virtual 
Saves at least 22 bytes of RAM
 2013-05-14 18:23:36 +09:00
Randy Mackay ad00e0ee1e ACMotors: make test_order uint_8 2013-05-14 18:03:34 +09:00
Randy Mackay 88893f4209 ACMotors: make a few functions non-virtual 2013-05-14 17:41:12 +09:00
Randy Mackay bd07b1e57b ACMotors: remove unused get_num_motors function 
Saves about 4 bytes of RAM
 2013-05-14 17:35:27 +09:00
Randy Mackay 5bb0582854 ACMotors: ESC Calibration only for enabled motors 2013-05-14 17:07:36 +09:00
Randy Mackay 33d1129904 Copter: remove unused TB_RATIO parameter 2013-05-14 16:56:55 +09:00
Randy Mackay 7a81c41689 AP_Motors: motor_enabled array to bool 
Also increased the default MAX_THROTTLE from 850 to 1000 but this number
is always overwritten by the main code anyway so should have no
functional impact.
 2013-05-14 16:05:22 +09:00
Randy Mackay 1cfd5900a8 Copter: add support for H-quad frame 
H-quads are like X quads but the motors spin in the opposite direction.
Having the motors reversed seems to help with yaw authority because of
the slight flex in bodies
 2013-05-03 23:13:40 +09:00
Randy Mackay cb5f8826f8 Copter: Leonard's fix for trapezoidal frame 
We need to allow yaw_factors to be floats in the add_motor method
 2013-04-25 17:52:19 +09:00
Randy Mackay 1a7cffefe6 TradHeli: change coll_out to int16_t 
was incorrectly defined as an AP_Int16 parameter
 2013-04-24 11:32:26 +09:00
Andrew Tridgell 2c05030fb1 AP_Motors: use the right constrain() function 2013-04-22 13:26:49 +10:00
Randy Mackay a656b619f5 AP_Motors: remove auto_armed 
redundant flag that was already held in the main code which is where it
belongs.
 2013-04-17 21:28:42 +09:00
foobarbecue c07702f46d Update AP_MotorsOctaQuad.cpp 
There were two "4"s in the motor test order values. Presumably a typo.
 2013-04-05 11:22:56 +09:00
Randy Mackay 739e3c2b9a Copter: adjust trapezoidal motor mixing 2013-04-04 21:46:11 +09:00
Randy Mackay e32cbd827b Copter: replace quad trapezoid frame with V 
Also update motor mixing
 2013-04-03 22:14:29 +09:00
Randy Mackay 39ba406957 Copter: add trapezoid frame type 
We still need to properly define the motor mixing for the trapezoid
frame in AP_MotorsQuad.cpp
 2013-03-31 12:41:02 +09:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell 03b26c7d6d AP_Motors: fixed setup of ESC update speeds 2013-01-10 15:52:46 +11:00
Andrew Tridgell e7dea077b4 AP_Motors: fixed example sketch 2013-01-02 22:02:46 +11:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell f91ddf5df9 AP_Motors: removed board type define 2013-01-02 15:27:58 +11:00
rmackay9 3aca61cefb AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch) 2013-01-02 09:19:17 +11:00
Andrew Tridgell a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Pat Hickey 3cc204321c AP_Motors_Class: add Progmem typedef 2012-12-20 14:52:30 +11:00
Andrew Tridgell 7582c882e6 Motors: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey 475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Pat Hickey c6fe5e5340 AP_Motors: ported to AP_HAL 2012-12-20 14:51:26 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
rmackay9 a38db6744f AP_Motors: add comments for parameters 2012-12-10 21:37:20 +09:00
Robert Lefebvre 0eb57bf93d ACM: TradHeli 
Fix to make update_throttle_cruise work with stab_throttle scaling.
 2012-12-08 15:12:39 -05:00
Robert Lefebvre a5c4e65cdf ACM: TradHeli 
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
 2012-12-04 15:09:27 -05:00
Robert Lefebvre 6b1fee767a ACM: TradHeli 
Creating Stab_Collective Function to allow for different collective ranges between Stabilize and other modes.
This makes for a smoother collective action in Stabilize mode with manual throttle, while still allowing full collective travel in Acro and other modes.
 2012-11-26 19:37:20 -05:00
rmackay9 50a4838879 AP_Motors, AP_RangeFinder, Filter: fixes to example sketches 2012-11-08 00:29:43 +09:00
rmackay9 0159d8bd35 AP_Motors: bug fix to reached_limits so by default it returns true if any limits have been breached 2012-10-31 22:00:17 +09:00
rmackay9 c0cf2d6f38 AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved 2012-10-11 17:19:54 +09:00
rmackay9 c320938ff2 AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability. 
Resolves climb-on-yaw problem.
 2012-10-09 15:48:15 +09:00
rmackay9 6ed59fba91 AP_Motors: enable throttle curve by default 2012-09-25 23:36:35 +09:00
rmackay9 bc2aa84394 AP_Motors: remove stray debug message re set-up of throttle curve 2012-09-23 12:25:31 +09:00
Robert Lefebvre 9e32d45d7b Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges. 2012-09-19 20:43:58 -04:00
rmackay9 93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
uncrustify 744ad19630 uncrustify libraries/AP_Motors/AP_MotorsHeli.h 2012-08-21 19:19:52 -07:00