Commit Graph

67 Commits

Author SHA1 Message Date
Andrew Tridgell f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
Leonard Hall e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 2016-06-18 11:55:49 +09:00
Leonard Hall dec9323127 Copter: remove THR_MIN
Equivalent is AP_Motors SPIN_MIN
2016-06-18 11:55:49 +09:00
Randy Mackay 6a1bdebf25 Copter: remove THR_MAX definition for changing throttle input range
We do not support changing the throttle input range from it's expected 0 ~ 1000
2016-06-18 11:55:49 +09:00
Andrew Tridgell 86d8450666 Copter: use loop rate for copter
this allows for SCHED_LOOP_RATE below 400 in SITL for copter
2016-06-17 15:01:18 +10:00
Andrew Tridgell 146a59eed3 Copter: fixed ESC calibration on PixRacer
we need to set the ESC scaling before we go into the calibration loop
or the outputs will never arm
2016-05-25 19:35:17 +10:00
Ricardo de Almeida Gonzaga ce241dd97a ArduCopter: Fix typos 2016-05-13 19:20:07 -03:00
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 ce1fb7fb06 Copter: passthrough pilot input to motors to allow wiggling servos 2016-04-01 11:59:30 +09:00
Leonard Hall e132ea34d9 Copter: g.rc_3.control_in range 0 to 1000
Previously the range was throttle_min (normally 130) to 1000 but we can remove this awkward range and use 0 to 1000 now that the attitude controller and motor library inputs are in the 0 to 1 range.
2016-04-01 11:59:30 +09:00
Jonathan Challinger 8965185587 Copter: add "high throttle cancels landing" option 2016-01-14 15:21:54 +09:00
Andrew Tridgell 74883ddaeb Copter: use set_range_in() for tuning channel
this allows channel 6 to be used for something else for output
2016-01-04 11:23:33 +09:00
Randy Mackay 546d668d1d Copter: no set_hover_throttle for TradHeli 2015-07-21 16:26:07 +09:00
Randy Mackay 88b617707f Copter: call set_throttle_range for multicopters only 2015-07-21 16:26:05 +09:00
Randy Mackay 28fc981d29 Copter: refresh rc servo function on startup 2015-06-10 16:47:07 +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