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20328 Commits

Author SHA1 Message Date
Peter Barker a9c4f1d0d5 AP_HAL_Linux: return RC protocol being decoded 2019-06-18 11:35:38 +10:00
Peter Barker 1f4de871da AP_HAL_ChibiOS: return RC protocol being decoded 2019-06-18 11:35:38 +10:00
Peter Barker 92111eea61 AP_HAL: require HALs implement rcin.protocol() to return RC protocol 2019-06-18 11:35:38 +10:00
Peter Barker 7bca6d5ec0 AP_Logger: log RC protocol each time a log is opened 2019-06-18 11:35:38 +10:00
Peter Barker 0963957b31 GCS_MAVLink: correct GCS_Dummy firmware version 2019-06-18 10:54:01 +10:00
Peter Barker c39a622653 GCS_MAVLink: take sw_version from AP_FWVersion struct 2019-06-18 10:54:01 +10:00
Peter Barker b48c729bb1 AP_Common: add os_sw_version to AP_FWVersion 2019-06-18 10:54:01 +10:00
Peter Barker 8f8851271a RC_Channel: add mode-changing options to Plane RC channel options 2019-06-18 10:48:47 +10:00
Peter Barker a2c4bfea0c GCS_MAVLink: use send_to_active_channels for parameters 2019-06-18 10:27:56 +10:00
vierfuffzig 7780e8ed00 AP_HAL_ChibiOS: add support for AIO and OSD board types 
this allows init on board variant without onboard baro
 2019-06-18 10:10:22 +10:00
Michael du Breuil 6e0cceff0d AP_Common: Remove extra comparison from longitude_scale() 2019-06-18 10:09:09 +10:00
Peter Barker 4e5842a150 AP_Common: add initialised() method to Location 
Sometimes code paths are crossed when they shouldn't be.  This method
can help in the short term if a codepath is calling methods on a
Location when it is not initialised, but generally a vehicle should be
calling position_ok() and other methods rather than this one.
 2019-06-18 09:07:56 +09:00
Michael du Breuil 4aa33bec49 AP_AHRS: Remove AP_GPS.h from AP_AHRS.h 2019-06-18 10:02:05 +10:00
Michael du Breuil 197804412a APM_Control: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil a09ead5819 AP_ADSB: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil 3194b073ca AP_AdvancedFailsafe: Use AP_GPS singleton 2019-06-18 10:02:05 +10:00
Michael du Breuil 157a3b1e34 AP_Airspeed: Fix AP_GPS.h include and use the singleton 2019-06-18 10:02:05 +10:00
Michael du Breuil c70107cabb AP_Arming: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil 889d9b7348 AP_Frsky: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil f6f432a785 AP_Landing: Fix AP_GPS.h include, use a ref to the singleton 2019-06-18 10:02:05 +10:00
Michael du Breuil f8750a6d18 AP_Logger: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil 459e6704b9 AP_Module: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil fbd19f30e7 AP_Mount: Reduce header includes 2019-06-18 10:02:05 +10:00
Michael du Breuil 892b687c09 AP_NavEKF2: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil be74b631fe AP_NavEKF3: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil 2ab8a2318e AP_OSD: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil cbcd959290 AP_Terrain: Fix AP_GPS.h include 2019-06-18 10:02:05 +10:00
Michael du Breuil be7afe346b GCS_MAVLink: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil 6317355390 RC_Channel: Fix AP_GPS include 2019-06-18 10:02:05 +10:00
Michael du Breuil 23439de39a AP_Logger: Don't include AP_BattMonitor which we don't need 2019-06-18 10:02:05 +10:00
Michael du Breuil ba4c589ff2 AP_OSD: Fix depending upon AP_Logger for AP_BattMonitor header 2019-06-18 10:02:05 +10:00
Michael du Breuil f6b8bf49a1 AP_Motors: Simplify the example includes 2019-06-18 10:02:05 +10:00
Michael du Breuil 8c00102259 GCS_MAVLink: Reduce scoping on AP_BattMonitor include 2019-06-18 10:02:05 +10:00
Michael du Breuil eed710db5f AP_GPS: Fix a lot of unneded example includes 2019-06-18 10:02:05 +10:00
Michael du Breuil 9fc954b030 AP_Compass: Reduce scope of BattMonitor include 2019-06-18 10:02:05 +10:00
Michael du Breuil 03a4dda810 AP_Mount: Remove unneeded dependency on AP_Airspeed, and bad example 2019-06-18 10:02:05 +10:00
Peter Barker b902316139 AP_HAL: remove buggy write implementation 2019-06-17 17:20:57 +10:00
Pierre Kancir 209b0300a5 AP_Rangefinder: fix compilation for Bebop 2019-06-14 18:56:05 -07:00
Randy Mackay bba81b2794 AC_Avoidance: Dijkstra's exits early if polygon fence disabled 2019-06-14 08:06:17 +09:00
Peter Barker da5d5c9203 AP_Math: add tests for Vector2 2019-06-13 19:36:49 +10:00
Jaaaky fb311208ab AP_AHRS: Fix DCM gndVelADS on groundspeed_vector() with airspeed_use 2019-06-13 16:31:12 +10:00
Randy Mackay fb284ff26a AP_ServoRelayEvents: minor formatting fix 2019-06-13 09:51:21 +09:00
Tatsuya Yamaguchi 012fcae388 AP_ServoRelayEvents: allow DO_SET_SERVO commands while rc pass-thru 2019-06-13 09:51:21 +09:00
Tatsuya Yamaguchi f9547fa28e SRV_Channel: allow DO_SET_SERVO commands while rc pass-thru 2019-06-13 09:51:21 +09:00
Rishabh ce48b82500 AC_WPNav: remove brake 2019-06-13 09:02:46 +09:00
Peter Barker c59dde78c6 AP_HAL_SITL: dump stack trace as part of panic() 2019-06-13 09:25:42 +10:00
Peter Barker dd68b14f46 AP_HAL_SITL: move dump_strack_trace into HAL 2019-06-13 09:25:42 +10:00
Peter Barker c3a99c8eb0 AP_HAL: move dump_strack_trace into HAL 
Use a weak definition to allow subclasses to override
 2019-06-13 09:25:42 +10:00
Randy Mackay cceab9c88f AC_Avoidance: fix BendyRuler when outside polygon fence 2019-06-12 14:54:33 +09:00
Peter Barker cc7044b360 AP_Scheduler: include internal error count in PM log message 2019-06-12 10:05:59 +10:00
Peter Barker 733b7b7f1a AP_Logger: include internal error count in log structure 2019-06-12 10:05:59 +10:00
Peter Barker 5f877294c9 AP_Logger: re-add lost validate_structure loop 
Lost with bad rebase
 2019-06-12 10:05:59 +10:00
Peter Barker cd0265644d AP_Logger: disable float-mult-zero sanity check for the time being 2019-06-12 10:05:59 +10:00
Peter Barker ae85994c59 GCS_MAVLink: include internal error count as errors4 in SYS_STATUS 2019-06-12 10:05:59 +10:00
Peter Barker 256b6703f1 AP_InternalError: keep count of number of errors having occured 2019-06-12 10:05:59 +10:00
Andrew Tridgell 99316a191c AP_AHRS: added check_lane_switch() 2019-06-12 09:52:20 +10:00
Andrew Tridgell 60831c2878 AP_NavEKF3: added checkLaneSwitch() 
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
 2019-06-12 09:52:20 +10:00
Andrew Tridgell 3073c4da7a AP_NavEKF2: added checkLaneSwitch() 
this allows the vehicle code to ask the EKF to change lanes if it is
about to do an EKF failsafe
 2019-06-12 09:52:20 +10:00
Peter Barker f385a4a329 GCS_Common: fix compiler warnings on missing parentheses 2019-06-11 21:50:53 +10:00
Randy Mackay 6ed09d83f3 GCS_MAVLink: send_home_position uses const Location reference 2019-06-11 13:13:22 +09:00
Randy Mackay 0a86bbdc9a AC_Avoidance: add license to cpp file 2019-06-11 13:13:22 +09:00
Randy Mackay 70e9881880 AR_WPNav: integrate OAPathPlanner 2019-06-11 13:13:22 +09:00
Randy Mackay af80070ed9 AP_OAPathPlanner: path planning around obstacles 
implements both bendy ruler and dijkstra's algorithms

includes many changes after peer review including:
removed unused airspeed and turn-rate arguments
renamed constants to start with OA_BENDYRULER_
removed fence_ptr check from update function that could cause bendy ruler to fail when fences were disabled
AC_Fence's fence-margin is not used and instead we always use a hard-coded 2m limit
vehicle's heading is used instead of ground-course when speed is below 0.2m/s
static assert added to ensure OA_BENDYRULER_BERAING_INC constant is defined correctly
replace BAD_MARGIN/GOOD_MARGIN with FLT_MAX/-FLT_MAX
use calc_margin_from_xxx function's return values
calc-margin-from-proximity-sensors fails if copy-locations fails
remove debug
remove unused singletons

and other changes including:
integrate fence rename to get_boundary_points
adapt to fence return point and duplicate final point from not being returned
create bendyrule and dijkstra objects on init
add pre-arm-check to ensure they've been created successfully
Dijkstra's detects polygon fence changes
minor fix to Dijkstra's return path
allow update_visgraph to accept 0,0 as extra point

and these fixes from peer reviews:
remove unused methods
add note about dangers of operator[]
reduce memory consuption of ShortPathNode
remove unused methods including print_all_nodes and print_shortest_path
replace OA_DIJKSTRA_POLYGON_VISGRAPH_INFINITY_CM with FLT_MAX
update method gets check that ekf origin has been set
fix indexing bug in inner fence creation
fix whitespace error
find-node-from-id uses switch statement instead of 3 IF statements
update_visgraph comments added to clarify usage of extra_position argument
find-closest-node-idx always uses node_index instead of int16_t
static assert that OA_DIJKSTRA_POLYGON_FENCE_PTS < 255
some looping style changes
AP_OABendyRuler: fix to ground course calculation
AP_OAPathPlanner: pre_arm_check writes to caller's buffer
remove unnecessary hal and stdio.h includes
rename fence_ptr local variable to fence
add sanity check to OADijkstra's set_fence_margin
add sanity check to OABendyRuler's set_config
BendyRuler's test_bearing local constants changed to be float constants
BendyRuler's ahrs_home made local constant
BendyRuler's proximity margin calcs lose margin_found local variable (use FLT_MAX instead)
BendyRuler's calc-margin-from-circular-fence performance improvement by removing one sqrt
AP_OABendyRuler: fix probe directions to be 5deg offsets from dir to destination
AP_OADijkstra: fixes after peer review
remove unnecesary initialisations
replace safe_sqrt(sq()) with length()
remove unnecessary block
comment fixes
AP_OAPathPlanner: add logging of final an intermediate location
 2019-06-11 13:13:22 +09:00
Randy Mackay c7b1ad3443 AP_Logger: add Write_OA 2019-06-11 13:13:22 +09:00
Randy Mackay beb9ecbdcb AC_Fence: add get_boundary_update_ms 
this allows callers to detect changes in the underlying polygon fence
 2019-06-11 13:13:22 +09:00
Randy Mackay 0f6e61bc33 AC_Fence: add is_polygon_valid accessor 2019-06-11 13:13:22 +09:00
Randy Mackay 9c3812e384 AP_Proximity: move copy_locations to backend 
also remove unused get_locations
also fix comment for copy_locations method
 2019-06-11 13:13:22 +09:00
Tom Pittenger b792fe4b26 AP_Proximity: add Location* object and accessors 2019-06-11 13:13:22 +09:00
Randy Mackay c2bcc0d5f0 AP_Math: define Vector2f::perpendicular 2019-06-11 13:13:22 +09:00
Randy Mackay 071e340827 AP_Math: Polygon_closest_distance_line returns neg numbers 
value is negative distance from intersection to p2
 2019-06-11 13:13:22 +09:00
Andrew Tridgell 6eb816fd3b AP_Math: add Polygon_closest_distance_line 
Also add optimisations
 2019-06-11 13:13:22 +09:00
Andrew Tridgell a5fd7ac5ca AP_Math: add vector2f::closest_distance_between_line_and_point_squared 
also add vector2f::closest_distance_between_line_and_point and vector2f::closest_distance_between_lines_squared
 2019-06-11 13:13:22 +09:00
Andrew Tridgell 2457bf71d4 AP_Math: add simplified vector2f::closest_point 
this simpler version assumes the line segment originates at the origin
 2019-06-11 13:13:22 +09:00
Andrew Tridgell c8e49259a0 AP_Math: add vector2f::closest_distance_between_radian_and_point_squared 2019-06-11 13:13:22 +09:00
Andrew Tridgell dbf337e1b3 AP_Math: move closest_point to cpp 2019-06-11 13:13:22 +09:00
Andrew Tridgell bfc28dfde9 AP_Math: move normalize, reflect, project and perpendicular to cpp 2019-06-11 13:13:22 +09:00
Andrew Tridgell 01e541b7d1 AP_Math: minor formatting changes to length method 2019-06-11 13:13:22 +09:00
Andrew Tridgell 4c4de1f021 AP_Math: vector2f::length_squared always returns float 2019-06-11 13:13:22 +09:00
Andrew Tridgell 46617e6c72 AP_Math: remove unused include from Vector2 2019-06-11 13:13:22 +09:00
Andrew Tridgell 69781cda42 AP_Math: add Vector2::angle 2019-06-11 13:13:22 +09:00
Rajat Singhal bc22aeb4da GCS_Mavlink: Correct format specifier in UART panic message 2019-06-11 13:36:03 +10:00
Peter Barker 68d7e0c22f AP_RangeFinder: correct macro being used for parameter definition 2019-06-11 12:47:56 +10:00
Peter Barker 8cd5e3103f AP_RangeFinder: remove use of removed AP_PARAM_FLAG_IGNORE_ENABLE 2019-06-11 11:38:10 +09:00
Michael du Breuil 40753ab14e AP_Param: Remove non functional AP_Param ignore flags 2019-06-11 10:28:45 +10:00
Michael du Breuil cc7d13e9ef AP_BattMonitor: Remove param ignore flags 2019-06-11 10:28:45 +10:00
heitiane 931367a7ea AP_HAL: fix RCOutput, RCOutput2 and RCInputToRCOutput examples to prevent the failure of reading and writing channels. 2019-06-11 10:27:44 +10:00
Peter Barker a025794bae GCS_MAVLink: correct is_streaming check and update of is-streaming mask 2019-06-11 09:26:10 +10:00
Andrew Tridgell 51e187342b HAL_ChibiOS: move the power control changes to be only CubeBlack 
This aims to fix #11455. I have been unable to reproduce the issue,
which leaves me thinking it is either a bootloader difference or a hw
difference between pixhawk1 clones and real pixhawk1 boards
 2019-06-09 16:56:14 +10:00
Andrew Tridgell df4fc0fff0 AP_NavEKF2: default EK2_MAG_EF_LIM to 50 
this was supposed to be part of the original PR (agreed with Paul to
enable by default)
 2019-06-08 20:24:58 +10:00
Siddharth Purohit a926effee5 hwdef: iomcu set pin mode to input for autodetecting heater control level 2019-06-08 14:31:01 +10:00
Siddharth Purohit f23746053d AP_IOMCU_FW: autodetect active high/low on heater control pin 2019-06-08 14:31:01 +10:00
Peter Hall aa32a0d143 AP_Windvane: fix NMEA vehicle to earth frame 2019-06-08 09:48:03 +09:00
Randy Mackay 607f996232 AC_Avoid: restructure logic of adjust_velocity_circle_fence 2019-06-08 09:35:36 +09:00
Randy Mackay a96c146758 AR_AttitudeControl: set-throttle-out-stop considered same as running speed controller 
update the speed-last-ms time when set-throttle-out-stop runs or else the desired throttle will not be acceleration limited when the desired speed is next increased above zero
 2019-06-08 09:35:36 +09:00
Randy Mackay e846840a52 AC_Avoid: fix stopping at circular fence 2019-06-08 09:35:36 +09:00
Peter Barker e061df0f6d AP_HAL_SITL: attempt to dump stack trace as part of segv handler 2019-06-07 22:03:41 +10:00
Andrew Tridgell 02403d9b93 HAL_SITL: added support for exit on panic() 
used by autotest server
 2019-06-07 20:33:13 +10:00
Peter Barker 35d4555be0 AC_Avoid: improve documentation of AVOID_ENABLE options 2019-06-07 17:37:00 +09:00
Lucas De Marchi e66de36016 HAL_ChibiOS: fix I2C transaction without stop condition 
Start using i2cSoftStop() instead of i2cStop() so the peripheral
continues to be enabled and with non-gated clock.  This allows time for
the I2C peripheral to continue the ack or stop.
 2019-06-06 09:27:47 -07:00
Andy Piper 31ea3466af AP_InertialSensor: Post-filter logging takes precedence over sensor-rate logging. 2019-06-06 17:09:17 +10:00
Andy Piper 52e4676564 Filter: Allow all filter frequencies to be 16bit. 2019-06-06 17:09:17 +10:00
Andy Piper 36878e9b3c AP_InertialSensor: Allow all filter frequencies to be 16bit. 2019-06-06 17:09:17 +10:00
Andy Piper fff81a2163 AP_InertialSensor: Make sure the LPF output is used by the notch input. 2019-06-06 17:09:17 +10:00
Andy Piper 1a8475cf9f Filter: Decouple notch filter configuration from the filter itself. 
Allow multiple notch filters to be instantiated using the same configuration.
 2019-06-06 17:09:17 +10:00
Andy Piper 18d403c3ac AP_InertialSensor: Rework notch filter allocation and sampling 
https://github.com/ArduPilot/ardupilot/issues/11346

Allocate a notch filter per-IMU.
Update the notch filters in the backend at the sensor sample rate.
Allow raw logging of post-filtered gyro and accel values.
 2019-06-06 17:09:17 +10:00
Andrew Tridgell 045bdf3478 AP_InternalError: removed unused internal error 2019-06-06 16:35:22 +10:00
Andrew Tridgell 91f80613dd AP_Logger: removed internal error for logging without sem 2019-06-06 16:35:22 +10:00
Peter Barker dce472745e AP_NavEKF3: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Peter Barker 11f31c2851 AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed 2019-06-06 12:44:36 +10:00
Peter Barker 697b8f6b53 AP_AHRS: take EAS2TAS directly from Baro (rather than via airspeed) 2019-06-06 12:44:36 +10:00
Peter Barker 5cfba85095 AP_AirSpeed: take EAS2TAS directory from baro; use for all backends 
Plane was only setting EAS2TAS in the primary frontend; calibration
expected it to be set on each instance.
 2019-06-06 12:44:36 +10:00
Peter Barker 470e88f8b3 AP_Button: use send_to_active_channels() 2019-06-06 12:41:48 +10:00
Peter Barker 264a757095 GCS_MAVLink: add send_to_active_channels method 2019-06-06 12:41:48 +10:00
Peter Barker 4d46c801f2 GCS_MAVLink: panic in SITL if we fail to write to uart 2019-06-06 12:41:48 +10:00
Andrew Tridgell 73bc277470 HAL_ChibiOS: fixed KakuteF7 build 
low on flash
 2019-06-06 12:19:13 +10:00
Andrew Tridgell 2acaada884 HAL_ChibiOS: fixed OMNIBUSF7V2 build 
ran out of flash for plane
 2019-06-06 12:19:13 +10:00
Andrew Tridgell bfdf857b34 HAL_ChibiOS: fixed airbotf4 build 2019-06-06 12:19:13 +10:00
Peter Barker f2163fbc24 AC_WPNav: use singleton for getting AC_Avoid instance 2019-06-06 11:47:22 +10:00
Andrew Tridgell 614a059819 HAL_ChibiOS: convert more boards to using new sensor config system 2019-06-05 18:54:40 +10:00
Andrew Tridgell 4a8c307720 AP_UAVCAN: fixed build error of F4 boards with CAN 2019-06-05 18:54:40 +10:00
Peter Barker 4c88a1e9de AP_RangeFinder: remove dangling update_instance declaration 2019-06-04 19:36:57 +09:00
Peter Barker 503aeba7b7 AP_RPM: remove dangling update_instance declaration 2019-06-04 19:36:57 +09:00
Peter Barker d617904726 AP_Proximity: remove dangling update_instance declaration 2019-06-04 19:36:57 +09:00
Tatsuya Yamaguchi 18a43601cd RangeFinder: Add up to 10 RangeFinder logs 2019-06-04 19:11:11 +10:00
Peter Barker be9df7f600 AP_Logger: add a README.md to help locating units/mults/fieldtypes 2019-06-04 19:00:11 +10:00
Peter Barker b644df14d0 AP_Logger: move documentation for fieldtypes, units and mults to top 2019-06-04 19:00:11 +10:00
1iggy2 7323a5da9d AP_Motors: Added Octo I frame 2019-06-04 09:49:44 +09:00
ChristopherOlson fc84995fb9 AP_Motors:Heli - remove H_LAND_COL_MIN and replace with H_COL_MID 2019-06-04 09:48:03 +09:00
Peter Barker fb3f761fc7 AP_UAVCAN: fix redefinition of UAVCAN_NODE_POOL_BLOCK_SIZE warning 2019-06-04 10:25:15 +10:00
Peter Barker cbf6d44277 AP_RCProtocol: fix missing-declaration warning in example 2019-06-04 10:25:15 +10:00
Peter Barker 73c81519da AP_GPS: fix missing-declaration warning in example 2019-06-04 10:25:15 +10:00
Peter Barker e9160cd9d5 AC_Avoid: correct iteration through edges 2019-06-04 09:06:07 +09:00
Peter Barker cd6e5b48a1 AC_Avoid: move check for zero-desired-velocity into adjust_velocity_polygon 
This is the method which divides by the length of this vector; the
check belongs in here.
 2019-06-04 09:06:07 +09:00
Vincent 3177d24429 AP_HAL: Make linux hardware define more readable 2019-06-04 10:00:09 +10:00
Peter Barker bb14ec1a2c AP_Arming: make proximity sensor checks common 2019-06-04 08:45:34 +09:00
Peter Barker 99c56c1770 GCS_MAVLink: fix MAV.txp log field 
This was being promoted to an unsigned.
 2019-06-04 09:05:37 +10:00
Andrew Tridgell e9ed3540f1 AP_NavEKF2: constrain field by table after fusion 
this should make for faster convergence
 2019-06-03 12:21:29 +10:00
Andrew Tridgell 3835d2613e AP_NavEKF2: added EK2_MAG_EF_LIM parameter 
this sets a limit on the difference between the earth field from the
WMM tables and the learned earth field inside the EKF. Setting it to
zero disables the feature. A positive value sets the limit in mGauss.
 2019-06-03 12:21:29 +10:00
Andrew Tridgell 7206258587 AP_Compass: use new get_earth_field_ga() API 2019-06-03 12:21:29 +10:00
Andrew Tridgell be62bf32cb AP_Declination: added get_earth_field_ga() interface 
this gives a more convenient API for getting the earth field as a
vector
 2019-06-03 12:21:29 +10:00
Peter Hall 49003868fe AP_Windvane: add NMEA wind sensor type 2019-06-03 10:48:19 +09:00
Peter Hall fe38413ddc AP_SerialManger: add windvane serial type 2019-06-03 10:48:19 +09:00
Peter Hall ea4ecebfc4 AP_Math: add speed unit converstion defs 2019-06-03 10:48:19 +09:00
ChristopherOlson b6bfc8947f AP_Motors:Heli Governor - change rotor_rpm argument to a float 2019-06-03 07:53:01 +09:00
bnsgeyer f1a32d7872 AP_Motors: Tradheli- modified thrcrv and gov parameter group names 2019-06-03 07:53:01 +09:00
ChristopherOlson b1046c7b80 AP_Motors:Heli_RSC Governor - add method of droop compensation 
- improve handling of outliers from speed sensor
 - change governor_tc variable to governor_thrcurve
 - remove equals zero from variable declarations
 2019-06-03 07:53:01 +09:00
bnsgeyer 4120e29614 AP_Motors: Tradheli-complete conversion of throttle curve params to percent 
add conversion for throttle curve params for upgrade
 2019-06-03 07:53:01 +09:00
bnsgeyer 3629541a20 AP_Motors: Tradheli - implement enable params for throttle curve and governor 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