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43 Commits

Author SHA1 Message Date
IamPete1 b5e78f9260 AP_Motors: add reversed tricopter option 2020-02-05 10:10:20 +11:00
IamPete1 28884f60d5 AP_Motors: tricopter apply diffential thrust in forward flight 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
Randy Mackay f85e84cc89 AP_Motors: add override keyword to get_motor_mask 2018-08-27 10:35:02 +09:00
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
Andrew Tridgell 46d9a1dcb5 AP_Motors: fixed tricopter tail servo in fwd flight 
in quadplane forward flight the with tilt-tricopter tail servo needs to
be at its trim position. Thanks to Marco for noticing this.
 2017-05-09 08:59:00 +09:00
Andrew Tridgell a6ecb94d24 AP_Motors: MotorsTri does not need its own var_info now 2017-01-20 12:05:09 +11:00
Andrew Tridgell 8e3bf71aa9 AP_Motors: allow single, tri and coax to be part of multicopter class 2017-01-12 17:39:37 +11:00
Andrew Tridgell 8799094278 AP_Motors: use SRV_Channel for tri tail servo 2017-01-12 17:39:37 +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
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 dc86e1472c AP_MotorsTri: protect against div-by-zero if MOT_YAW_SV_ANGLE param was set to 90 2016-04-01 11:59:30 +09:00
Randy Mackay 8621774040 AP_MotorsTri: remove output_min 
This is now implemented by parent AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Leonard Hall 13d727c2c6 AP_MotorsTri: add YAW_SV_ANGLE parameter to capture yaw servo lean angle max 2016-04-01 11:59:30 +09:00
Randy Mackay c939cc1551 AP_MotorsTri: clarify YAW_SV parameter descriptions and comments 2016-04-01 11:59:30 +09:00
Leonard Hall 45a16d6dad AP_MotorsTri: implement output_to_motors for spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall d0a7579fa0 AP_MotorsTri: stability patch in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall ba659be5cb AP_MotorsTri: rename _yaw_servo_reverse to _yaw_reverse 2016-04-01 11:59:30 +09:00
Leonard Hall 8c4d6d6fbe AP_MotorsTri: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall a2fdcfaf3f AP_MotorsTri: remove output_armed_not_stabilizing 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 4843be49de AP_MotorsTri: remove call to empty parent Init 
Also rename uses of Multirotor to Multicopter
 2015-07-21 16:25:48 +09:00
Robert Lefebvre 61d6c5aa1d AP_Motors: Creation of AP_Motors_Multirotor class 2015-07-21 16:24:38 +09:00
Randy Mackay d777166c6f AP_MotorsTri: revert tail servo to Ch7 2015-05-25 22:27:38 +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
Randy Mackay 7ab76dbd0e Motors: add loop_rate to constructor for all frames 2015-03-03 15:48:34 +09:00
Randy Mackay 6ae855c1cf MotorsTri: implement get_motor_mask 2014-07-26 16:33:16 +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 415e48de19 TriCopter: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay ccedf98238 Tri: call output_min at end of motors test 
Minor change to comments
 2013-11-27 22:32:49 +09:00
Andrew Tridgell 81f7ae9108 AP_Motors: fixed indent-tabs-mode 2013-05-30 09:51:34 +10:00
Randy Mackay bd07b1e57b ACMotors: remove unused get_num_motors function 
Saves about 4 bytes of RAM
 2013-05-14 17:35:27 +09:00
Andrew Tridgell f91ddf5df9 AP_Motors: removed board type define 2013-01-02 15:27:58 +11:00
Pat Hickey c6fe5e5340 AP_Motors: ported to AP_HAL 2012-12-20 14:51:26 +11:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
uncrustify 4a44c6a1ba uncrustify libraries/AP_Motors/AP_MotorsTri.h 2012-08-21 19:04:07 -07:00
rmackay9 357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
rmackay9 b71877366e ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00