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71 Commits

Author SHA1 Message Date
Gone4Dirt 927418b87c AP_Motors_Heli: Fix DDFP thrust linearisation by using min max pwm in servo library 
AP_Motors_Heli: Add H_YAW_TRIM param conversion for DDFP tails
 2023-11-14 10:24:03 +11:00
Iampete1 c5f3d5a98b AP_Motors: Heli: move heli parameter check to arming check 2023-08-01 09:12:51 +09:00
Iampete1 b61b761141 AP_Motors: Heli: move swashplate output state and code into swash lib 2023-07-18 08:05:26 +09:00
Iampete1 f55267017b AP_Motors: Heli: Remove unused init_output return and don't assume single for initialised OK 2023-07-04 11:31:21 +10:00
Iampete1 c5733e7634 AP_Motors: Heli: remove _output_test_seq as used in motor test 2023-06-27 10:24:15 +10:00
bnsgeyer 1e521d1a5d AP_Motors: Move DDFP thrust linearization params into sub group 2023-06-14 22:26:40 -04:00
bnsgeyer cc89c1ac1a AP_MotorsHeli: add thrust linearization for DDFP tails 2023-06-14 22:26:40 -04:00
Gone4Dirt 191ce55e1d AP_MotorsHeli: Remove pure virtuals and unnecessary overrides 2023-05-08 19:05:17 -04:00
Gone4Dirt 4b2c1368bd AP_MotorsHeli: move rotor_speed_above_critical to RSC so that it is actually used 2023-05-08 19:05:17 -04:00
Bill Geyer 93b0519ad2 AP_MotorsHeli: improve collective to yaw compensation 2022-12-22 07:07:34 -05:00
Leonard Hall 67205f8114 AP_Motors: Support changing update period 2022-12-13 17:10:06 +11:00
Iampete1 c1a9f75034 AP_Motors: params always use set method 2022-08-03 13:43:48 +01:00
Iampete1 43832649ec AP_Motors: convert to 32 bit motor mask 2022-05-22 12:07:37 +10:00
Iampete1 5181003228 AP_Motors: always check armed and interlocked in motor test 2022-02-10 07:43:40 +09:00
MidwestAire 77f0fdf112 AP_Motors:clean up whitespace in heli motors class 2021-12-14 22:50:05 -05:00
Bill Geyer 05e8285f93 AP_Motors: use RPM singleton to get rpm in RSC 2021-12-14 22:50:05 -05:00
Gone4Dirt b2d2bf61da AP_Motors: Support autorotation windows on external governors 2020-05-20 21:56:09 -04:00
bnsgeyer 2a8e2d19fa AP_Motors: Tradheli-incorporate DDFP for counter clockwise rotating rotors 2019-12-16 10:48:09 +09:00
bnsgeyer e91402aeb6 AP_Motors: tradheli-make all RSC params part of library 
AP_Motors: Tradheli-fix RSC mode change while armed

AP_Motors: tradheli - improve RSC param metadata

AP_Motors: tradheli-put all throttle param settings in percent
 2019-09-13 08:53:54 +09:00
ChristopherOlson b6bfc8947f AP_Motors:Heli Governor - change rotor_rpm argument to a float 2019-06-03 07:53:01 +09:00
bnsgeyer 51d4029f03 AP_Motors: Tradheli - maintain consistent variable types as used in calcs 
add override to declaration of new functions
 2019-06-03 07:53:01 +09:00
ChristopherOlson cca58e393a AP_Motors:Heli_RSC - add support for rotor speed governor with droop speed control 2019-06-03 07:53:01 +09:00
Randy Mackay 928d7c7e71 AP_MotorsHeli: add range checking to ext_gyro_gain 2019-04-08 15:24:00 +09:00
bnsgeyer 01bd99907b AP_Motors:Tradheli-swash library parameter scope improvement 2019-03-20 10:40:20 +10:00
bnsgeyer 79b069afc3 AP_Motors:tradheli-swash library general clean up 2019-03-20 10:40:20 +10:00
bnsgeyer 8c46fe1c61 AP_Motors: tradheli-fix parameters for generic swashplate and other minor fixes 2019-03-20 10:40:20 +10:00
bnsgeyer d7e6298366 AP_Motors: Tradheli - add swashplate library 2019-03-20 10:40:20 +10:00
bnsgeyer 28f4c68f2f AP_MotorsHeli: add spool logic support 
Also moved heli init_target_on_arming flag in from vehicle code
 2019-01-15 11:41:44 +09:00
bnsgeyer dec8c5de77 AP_Motors: convert heli code to use SRV_Channels 
this converts the heli code to use the SRV_Channels output
functions. It does not change behaviour, but removes the last vehicle
type that did its own servo output calculations.  This change also
fixed servo initialization conflicts.

Note that this also allows helis to be setup with more than one
channel for a particular output (eg. two separate channels for tail
servo if they are wanted). This isn't likely to be used much, but does
make heli consistent with other vehicle types
 2018-07-16 12:41:16 +10:00
Jacob Walser abcb845af5 AP_Motors: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Jacob Walser 9ce9f95692 AP_Motors: make output_test signatures consistent and ensure override 
specifier on derived classes
 2018-07-02 11:31:58 -04:00
ChristopherOlson 9aa685a6d8 AP_Motors:TradHeli - single rotor only - add support for H3-140 swashplates. 
Also changes the old definition to H3 for swashplates with fixed control radius and adjustable servo position.
 2018-04-18 14:24:59 +09:00
ChristopherOlson f073c58f68 AP_Motors:TradHeli - add support for reverse collective swashplates 2018-04-18 14:24:59 +09:00
ChristopherOlson 96793a3ae7 AP_Motors:TradHeli - DDVP Ramp/Runup 
Change to ramp and runup DDVP tail rotor to prevent torque pitching the frame and provide runup in sync with main
rotor like a mechanically driven tail.

Fix some comments and remove indents found in whitespace in AP_MotorsHeli.cpp and AP_MotorsHeli.h
 2018-03-14 09:18:07 +09:00
Andrew Tridgell 03e1f6967f AP_Motors: removed enable() API 
all output channels are already enabled by SRC_Channels::enable_aux_servos()
 2017-10-22 15:52:50 +11:00
Andrew Tridgell 1ad5e1db4e AP_Motors: integrate AP_MotorsHeli_Dual 
fixed issues with combining with Heli_Single
 2017-03-25 16:22:10 +11:00
Andrew Tridgell 638f1364be AP_Motors: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Randy Mackay 2da7ea746b MotorsHeli: minor formatting updates 2016-12-14 13:21:59 +09:00
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
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 4e5e301c4e AP_Motors: fixed servo constructor for heli 2016-05-26 16:41:06 +10:00
Randy Mackay c4b88aafef AP_MotorsHeli: swash and tail servo objects moved into class 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 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 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 71866be652 AP_MotorsHeliSingle: move_yaw in -1 to +1 range 2016-04-01 11:59:30 +09:00