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