Michael du Breuil
65af2bc56b
Rover: Fix sail motor test not being reachable
...
CID: 325623
2018-11-06 16:23:59 +09:00
Randy Mackay
7163839117
AP_MotorsUGV: remove arg from output_mainsail
...
no need to pass in argument which is always a local variable
2018-09-28 10:40:12 +09:00
Randy Mackay
a59b83af9a
AP_MotorsUGV: add mainsail to servo test
2018-09-28 10:40:12 +09:00
IamPete1
fa0fc5eade
AP_MotorsUGV: add mailsail support for sailboats
2018-09-28 10:40:12 +09:00
Ammarf
0f10d2316a
Rover: fix OmniX motor order
2018-08-31 08:38:17 +09:00
Randy Mackay
69541fc89c
AP_MotorsUGV: use wheel-rate-control for skid steering vehicles
2018-08-27 16:44:33 +09:00
Ammarf
d665abccde
Rover: add output tests for omni frames
2018-08-08 17:07:50 +09:00
Ammarf
8308646c5e
Rover: change omniplus motor order
2018-08-08 07:15:37 +09:00
Ammarf
430ed9bd3d
Rover: add custom config support
2018-08-07 10:01:32 +09:00
Andrew Tridgell
08da22c682
Rover: improved setup of output modes
2018-07-13 16:11:12 +09:00
Ebin
c65405541e
Rover: balancing function call moved to manual mode update()
2018-06-28 21:55:20 +09:00
Ebin
936ebbe1f3
Rover: Added BalanceBot as a rover frame
2018-06-28 21:55:20 +09:00
Randy Mackay
f0780c7bb1
AP_MotorsUGV: minor comment fix
2018-06-12 17:44:10 +09:00
Randy Mackay
1c0d9c7512
AP_MotorsUGV: MOT_SPD_SCA_BASE param for min speed scaling
...
This replaces the hardcoded 1m/s start point for speed scaling with a configurable value
2018-06-12 17:44:10 +09:00
Randy Mackay
5faff519c3
AP_MotorsUGV: steering limits and constraint done by each output handler
...
each motor output handler (regular, skid, omni) becomes responsible for constraining the steering input (if required) and setting the limits flags
it is possible to reduce duplicate code but I think it might be more important to keep it clear which level is responsible for the limiting and constraining of steering
2018-06-12 17:44:10 +09:00
Peter Barker
cf1f2f9aeb
Rover: move motors_active to be motors.active
...
This will help when we come to subclass the Motors library.
2018-06-08 08:51:18 +09:00
Ammarf
26c25daa36
Rover: add support for lateral control input
2018-05-31 13:48:17 +09:00
Randy Mackay
d018a9334e
AP_MotorsUGV: add get_slew_limited_throttle
...
required by vehicle code to properly handle steering direction in cases where the driver's input throttle has the opposite sign from output throttle because throttle is being slew limited
2018-05-10 08:02:13 +09:00
Randy Mackay
3db2cc700e
AP_MotorsUGV: positive steering always rotates vehicle right
...
also scale steering down with increased speed for regular rovers
add support for disabling scaling of steering
2018-05-10 08:02:13 +09:00
Randy Mackay
8137001a86
AP_MotorsUGV: minor comment fix
2018-05-10 08:02:13 +09:00
Ammarf
de4e74b910
Rover: added comments to output_omni
2018-05-09 12:50:45 +09:00
Ammarf
aca2c596b4
Rover: Use output_throttle for omni rover motor output
2018-05-09 12:50:45 +09:00
Ammarf
d7e01d83d6
Rover: added is_omni_rover function
2018-05-09 12:50:45 +09:00
Randy Mackay
341d75e0c9
AP_MotorsUGV: force throttle to zero when disarmed
2018-05-06 16:58:00 +09:00
Randy Mackay
c69f7bb1d0
AP_MotorsUGV: consolidate parameter sanity checks
2018-05-06 16:58:00 +09:00
Randy Mackay
38b79cf0bc
AP_MotorsUGV: support vectored thrust
...
steering scaled down as throttle increases
2018-04-24 19:57:19 +09:00
Andrew Tridgell
4f6240ee8a
Rover: handle oneshot125 separately
2018-04-07 09:10:29 +10:00
Andrew Tridgell
4350cee7cf
Rover: added mask to set_output_mode()
2018-04-07 09:10:29 +10:00
Randy Mackay
c05d239069
Rover: remove throttle scaling dependency on throttle range
2018-04-03 10:42:39 +09:00
Randy Mackay
fa20fd695f
Rover: use throttle_min param as output deadzone
2018-04-03 10:42:39 +09:00
Randy Mackay
ebe3ec88a7
AP_MotorsUGV: pre arm check if regular and skid steering configured
2017-12-11 11:56:12 +09:00
Randy Mackay
97e87e2150
AP_MotorsUGV: skid steering always uses full range
...
Allows skid friction to be removed
2017-12-05 20:26:35 +09:00
Randy Mackay
87658e6a07
AP_MotorsUGV: add MOT_THST_EXPO to scale output to motors
2017-12-04 09:53:06 +09:00
Randy Mackay
bee8741b60
AP_MotorsUGV: order methods in cpp file to match h
...
non-functional change
2017-12-04 09:53:06 +09:00
Randy Mackay
6d472376bb
AP_MotorsUGV: do not limit just because of saturation
...
steering and throttle limit flags should only be set when there is no point in the caller passing in higher values because it will not result in an increased response. In the case of saturation, higher inputs will still result in a higher response.
2017-11-30 20:13:11 +09:00
Daniel Widmann
8f1857759f
AP_MotorsUGV: allow larger MOT_SLEWRATE values
2017-11-28 09:12:18 +09:00
Randy Mackay
78275ec4a1
AP_MotorsUGV: throttle slew updates motor limit flags
...
this ensure I-term build-up doesn't happen when the slew
causes the throttle to react slowly
2017-11-28 09:12:18 +09:00
Randy Mackay
6d805b64b6
AP_MotorsUGV: remove access to enable/disable throttle slewing
2017-11-27 14:31:20 +09:00
khancyr
005002736b
AP_MotorsUGV: fix MOT_SLEWRATE parameter description
2017-11-21 20:02:20 +09:00
Andrew Tridgell
d57f307032
Rover: use cork/push wrapper
2017-11-21 14:10:54 +11:00
khancyr
74d5767e25
Rover: Fix slew rate range
2017-10-26 19:44:43 +09:00
Randy Mackay
2c568f8046
Rover: minor parameter description change
...
non-functional change
2017-10-26 19:43:42 +09:00
Randy Mackay
9f67d2a88d
Rover: add MOT_SKID_FRIC to up skid-steer motor out while stopped
2017-10-26 19:43:36 +09:00
khancyr
2f1cc5ddfc
Rover: support brushed motor on normal rover
2017-08-24 20:09:47 +09:00
khancyr
25b1307400
Rover: solve servo reverse in brushed configuration
2017-08-24 20:05:27 +09:00
Randy Mackay
3f1271214e
Rover: rename MotorsUGV pwm type to brush-with-relay
2017-08-22 10:09:13 +09:00
khancyr
46e6057493
Rover: solve servo reverse in brushed configuration
2017-08-22 10:09:10 +09:00
khancyr
a035950a22
Rover: minor format fix
2017-08-17 09:45:49 +09:00
Randy Mackay
c8eceeabb6
AP_MotorsUGV: add THR_MIN, THR_MAX parameters
2017-08-17 09:39:40 +09:00
Randy Mackay
c61f965828
AP_MotorsUGV: re-order implementation to match declaration
...
non-functional change
2017-08-17 09:39:40 +09:00