Randy Mackay
a2ffd9ec7d
AP_MotorsMulticopter: fix comment for get_throttle_limit function
2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
2016-06-18 11:55:49 +09:00
Randy Mackay
b27da7699e
AC_AttitudeControlMulti: get_throttle_avg_max made private
...
Also fixed up method's description
2016-06-18 11:55:49 +09:00
Randy Mackay
da946288a2
AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max
2016-06-18 11:55:49 +09:00
Randy Mackay
570920c7d7
AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run
2016-06-18 11:55:49 +09:00
Leonard Hall
1639e22b74
AC_AttitudeControl: set desired_vel for reporting purposes even when not used
2016-06-18 11:55:49 +09:00
Randy Mackay
558f29b95c
AC_AttitudeControl: control mixing made protected
2016-06-18 11:55:49 +09:00
Leonard Hall
9bd8878c8b
AC_AttitudeControlHeli: fix update_althold_lean_angle_max
2016-06-18 11:55:49 +09:00
Leonard Hall
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
...
This allow adjusting the reponse to limit lean angles to reduce altitude loss
2016-06-18 11:55:49 +09:00
Randy Mackay
dafc45eb26
AC_AttitudeControl: move get_althold_lean_angle_max to parent class
2016-06-18 11:55:49 +09:00
Leonard Hall
3d27ecca92
AC_AttitudeControl: add TC for Alt_Hold angle limit
2016-06-18 11:55:49 +09:00
Randy Mackay
7ff0fcb25d
AC_AttitudeControl: multicopter specific rate_controller_run
2016-06-18 11:55:49 +09:00
Randy Mackay
b7431b7d0c
AC_AttitudeControl: update throttle rpy mix on every iteration
2016-06-18 11:55:49 +09:00
Leonard Hall
ca2977decf
AC_AttitudeControl: set throttle vs attitude priority for flipped state
...
When performing a flip we want to allow throttle to go high to provide
maximum attitude control
2016-06-18 11:55:49 +09:00
Leonard Hall
1fb4c12cd0
AC_AttitudeControl: move in throttle vs attitude prioritisation
...
Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
2016-06-18 11:55:49 +09:00
Randy Mackay
0870ce9fc1
AC_AttitudeControl: remove get_throttle_boosted from parent class
...
This is only called from multicopters
2016-06-18 11:55:49 +09:00
Leonard Hall
25c77c154f
AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted
2016-06-18 11:55:49 +09:00
Leonard Hall
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
2016-06-18 11:55:49 +09:00
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
8fff32bde3
AP_MotorsSingle: fix stability patch use of throttle_hover
2016-06-18 11:55:49 +09:00
Leonard Hall
e0f9fc8e40
AP_MotorsSingle: rename rpy_scale, thrust_min_rpy variables
...
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
da05902805
AP_MotorsCoax: fix stability patch use of throttle_hover
2016-06-18 11:55:49 +09:00
Leonard Hall
9bc866e771
AP_MotorsCoax: rename rpy_scale internal variable
...
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
8bdb906b2b
AP_MotorsCoax: fixes negative thrust
2016-06-18 11:55:49 +09:00
Randy Mackay
71d1818103
AP_MotorsMulticopter: minor comment update
2016-06-18 11:55:49 +09:00
Randy Mackay
818965fa57
AP_MotorsMulticopter: output_to_motors and output_logic become protected
2016-06-18 11:55:49 +09:00
Leonard Hall
02881b59ff
AP_MotorsMulti: float constants
2016-06-18 11:55:49 +09:00
Randy Mackay
79a73a5c2f
AP_Motors: fix example sketch
...
No need to set throttle_mix nor throttle_min
2016-06-18 11:55:49 +09:00
Leonard Hall
bee6c29b89
AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN
2016-06-18 11:55:49 +09:00
Leonard Hall
be25ac4acf
AP_MotorsMulticopter: Add current limit time constant variable
2016-06-18 11:55:49 +09:00
Leonard Hall
7e0e0ca874
AP_MotorsMulticopter: battery voltage compensation improvements
2016-06-18 11:55:49 +09:00
Leonard Hall
0ee7b00b0b
AP_MotorsMulticopter: rename _thrust_curve_min to spin_min
2016-06-18 11:55:49 +09:00
Leonard Hall
142a67bb6d
AP_MotorsMulticopter: minor comment change
2016-06-18 11:55:49 +09:00
Leonard Hall
5cace33ca5
AP_MotorsMulticopter: SPIN_MIN replaces min_throttle
2016-06-18 11:55:49 +09:00
Leonard Hall
2c811364d3
AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED
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
Randy Mackay
25778a24e2
AP_MotorsMulticopter: add HOVER_LEARN param
2016-06-18 11:55:49 +09:00
Leonard Hall
4f0db2bc36
AP_Motors: learned THST_HOVER replace THR_MID
...
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1. 0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
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
Michael du Breuil
4d964fbf2f
AP_BoardConfig: allow channels to be moved regardless of safety switch
2016-06-17 15:20:22 +10:00
Andrew Tridgell
63d0c040e4
AP_Scheduler: expose loop rate on all builds
...
as discussed with Randy
2016-06-17 15:02:28 +10:00
Andrew Tridgell
255bda9f9c
AP_Motors: allow setting of loop rate
...
this allows for SCHED_LOOP_RATE in copter
2016-06-17 15:01:18 +10:00
Andrew Tridgell
fb4cdafef8
AP_Scheduler: allow SCHED_LOOP_RATE for copter in SITL
...
very useful for slow simulation environment
2016-06-17 15:01:18 +10:00
Andrew Tridgell
e360c6117e
SITL: make SIM_* variables available to simulator backends directly
2016-06-17 08:36:13 +10:00
Grant Morphett
34fa2a39bd
AP_InertialSensor: Changing the default gyro filter from 10 to 4
...
This change is only for Rovers.
2016-06-16 14:37:55 +09:00
Tom Pittenger
1770f314ac
SITL: change SIM_ADSB default to -1 to default disabled to leave telem port available
2016-06-15 17:22:54 -07:00
Andrew Tridgell
027788f72b
SITL: fixed gimbal simulator for recent MAVLink2 changes
2016-06-16 10:17:28 +10:00
Andrew Tridgell
145ab1d626
SITL: fixed send of ADSB_Vehicle packets with recent MAVLink2 changes
2016-06-16 10:15:07 +10:00
Tom Pittenger
8036912173
AP_ADSB: clarified some minor logic
2016-06-14 21:05:44 -07:00
