Commit Graph

94 Commits

Author SHA1 Message Date
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
Randy Mackay a1b573ed0a AP_Motors: rename throttle_ave_max to throttle_avg_max 2016-06-18 11:55:49 +09:00
Randy Mackay ef106e4b0f AP_Motors: spool_mode moved out of flags struction
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall 488f90b39d AP_Motors: add calc_spin_up_to_pwm to reduce repeated code 2016-06-18 11:55:49 +09:00
Leonard Hall 5a8fc6283e AP_Motors: replace throttle_rpy_mix with throttle_avg
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
2016-06-18 11:55:49 +09:00
Randy Mackay 8d1f50e78f AP_Motors: rename get_pwm_min to get_pwm_output_min 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
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
Randy Mackay 7af9892bd1 AP_MotorsMatrix: make const a float
resolves compiler warning
2016-04-23 23:06:25 -07:00
Andrew Tridgell f2c63e24c5 AP_Motors: allow tricopter motor 7 to be moved to any output 2016-04-22 08:32:03 +10:00
Randy Mackay f4d94806e5 AP_MotorsMatrix: remove output_min
This is now implemented by parent AP_MotorsMulticopter
2016-04-01 11:59:30 +09:00
Leonard Hall 8f8eb7e214 AP_MotorsMatrix: add normalise_rpy_factors 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 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
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 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
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
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 1572c9d4f4 AP_MotorsMatrix: get rid of _motor_to_channel_map 2015-09-29 12:00:56 +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 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 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 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 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
Leonard Hall 0f894ac1a8 AP_Motors: Rename and move Throttle Mix / Comp 2015-05-08 14:14:17 +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 8e442675a7 AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output 2015-04-16 20:59:40 +09:00
Leonard Hall 31a55b2bd6 MotorsMatrix: fix div by zero by ensuring throttle is above min 2015-03-16 14:49:31 +09:00
Leonard Hall 3ad9b1a06b AP_MotorsMatrix: remove incorrect throttle limit flag 2015-03-06 14:02:55 +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
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
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
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
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 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
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