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75 Commits

Author SHA1 Message Date
Iampete1 1a754904e9 AP_Motors: Matrix: mixer simplification 2023-04-04 09:25:15 +10:00
Iampete1 7c92340b42 AP_Motors: add getters for example 2023-04-04 09:25:15 +10:00
Leonard Hall 67205f8114 AP_Motors: Support changing update period 2022-12-13 17:10:06 +11:00
Henry Wurzburg 8b02f11c23 AP_Motors: refactor to allow frame type symbols to be created for ELF 2022-08-09 10:06:18 +10:00
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
Iampete1 70897b5e38 AP_Motors: allow custom frame string from scripting 2022-01-05 19:51:19 +11:00
Peter Barker 55cdbd208d AP_Motors: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker 9e8126d07c AP_Motors: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Peter Barker 380d962648 AP_Motors: do not use int version to define motors 2021-09-08 18:20:44 +10:00
Peter Barker dbb43a5746 AP_Motors: remove motor_num from motor definition structures 
Every structure simply used the defines in sequence, meaning 0, 1, 2, 3
etc.  Handily we have a loop counter where we use these structures...
 2021-09-08 18:20:44 +10:00
Peter Barker a152ad70a9 AP_Motors: use structures to save flash when initialising motors (raw motors) 2021-09-08 18:20:44 +10:00
Peter Barker 26385009ca AP_Motors: use structures to save flash when initialising motors 2021-09-08 18:20:44 +10:00
Peter Barker 5f980929d9 AP_Motors: use add_motors to save flash 2021-08-31 20:23:58 +10:00
Andy Piper 513aa592e4 AP_Motors: add accessors for turtle mode 2021-08-12 19:00:51 +09:00
Iampete1 6848cbc241 AP_Motors: add scripting dynamic mixer, allowing varable geometry vehicles 2021-07-20 09:19:28 +10:00
Peter Hall 42538c7083 AP_Motors: add throttle factor to Matrix 2021-05-25 09:01:06 +09:00
Peter Hall cc26a520bc AP_MotorsMatrix: init to virtual and remove duplicate set initalised 2021-02-09 12:43:54 +09:00
Mark Whitehorn 9bc8a8c912 AP_Motors: make frame*string getters more const 2021-02-09 12:43:53 +11:00
Mark Whitehorn 6b2184a53a AP_Motors: add frame_class and frame_type strings 
move frame_class/type string assignments down into subclasses
 2021-02-09 12:43:53 +11:00
Iampete1 fca6f7027b AP_Motors: allow Matrix config from scripting 2021-01-26 11:07:36 +09:00
Andrew Tridgell c504e2db04 AP_Motors: added disable_yaw_torque() method 
this is used for tilt-vectored quadplanes to use only vectoring for
yaw control. This avoids some nasty transition issues
 2020-12-16 08:45:11 +11:00
IamPete1 c82f158b56 AP_Motors: add get roll factor 2019-01-15 10:19:19 +11:00
Peter Barker f2070da335 AP_Motors: add override keyword where required 2018-11-08 11:30:12 +11:00
Leonard Hall 4774cb8daf AP_Motors: improved motor loss redundancy 
This detects a failed motor on copters with at least 6 motors
and recalculates the mixer to compensate
 2018-10-16 00:44:50 +09:00
Randy Mackay f85e84cc89 AP_Motors: add override keyword to get_motor_mask 2018-08-27 10:35:02 +09:00
Randy Mackay f536c53fa6 AP_MotorsMatrix: minor format fix 2018-08-21 13:34:07 +09:00
Jacob Walser 24e21b57ca AP_Motors: add output_test_num api for motor testing 2018-07-02 11:31:58 -04:00
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
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
Rustom Jehangir 237ba87ca4 AP_Motors: New AP_Motors6DOF used by Sub 2017-02-21 11:26:14 +11:00
Randy Mackay 7be0f437a9 AP_Motors: consolidate matrix multicopters 
AP_MOTORS_x_FRAME definitions moved to motor_frame_type enum
init function and now accepts frame-class and type to perform initial motor setup
set_frame_class_and_type allows real-time changing of motor setup
initialised_ok flag and accessor records whether setup was successful
 2016-12-31 10:55:23 +09:00
Randy Mackay 41189758b8 AP_Motors: move some functions to protected 
Also minor formatting fix
 2016-12-31 10:55:23 +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 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
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
Randy Mackay 8057d2fc58 AP_MotorsMatrix: remove unnecessary virtual declarations 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 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
Lucas De Marchi 7d9153feb8 AP_Motors: replace header guard with pragma once 2016-03-16 18:40:42 +11:00
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
Robert Lefebvre 61d6c5aa1d AP_Motors: Creation of AP_Motors_Multirotor class 2015-07-21 16:24:38 +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
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