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84 Commits

Author SHA1 Message Date
Andrew Tridgell e340fac2e0 AP_Motors: avoid float exception for small expo 
very small values of the thrust expo cause a floating point
exception. As zero is a documented value meaning linear we need to
handle this.
 2017-10-25 21:15:58 +11:00
Leonard Hall d28182435e AP_Motors: allow for negative thrust expo 
This allows for motors with a thrust curve that decreases with demand.
 2017-10-05 13:40:36 +11:00
Andrew Tridgell abd0831239 AP_Motors: changed BRUSHED16kHz to BRUSHED 2017-06-17 17:37:45 +10:00
Leonard Hall 9e86732edc AP_Motors: accept external battery resistance estimate 2017-06-06 14:57:04 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 1b062d9d29 AP_Motors: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Jonathan Challinger 2e07f8824e AP_Motors: reserve parameter index 38 2017-06-06 08:45:37 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 9d9ebc91cd AP_Motors: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Andrew Tridgell bdc4320fe8 AP_Motors: added MOT_BOOST_SCALE 
this is to support boost motors for copters, such as having a petrol
motor for extra lift on a multicopter

The scaling factor allows the user to control how much of the lift is
generated from the booster and how much from the main multicopter
motors
 2017-05-08 11:02:55 +10:00
Andrew Tridgell 2c4975ba31 AP_Motors: removed cork/push from AP_Motors 
should be done by vehicle code if needed, so that AUX servos are sent
at the same time
 2017-05-01 14:32:18 +10:00
Jacob Walser 507b461388 AP_Motors: Initialize throttle range directly 
This was causing SITL to hang at boot when motors object is statically allocated.
 2017-02-28 22:34:35 -08:00
Lucas De Marchi ade1876318 AP_Motors: tie esc scaling with set_throttle_range() 
We need to update the esc scaling from inside the Motors library, that
has access to the MOT_PWM_[MIN|MAX] values. Otherwise even though the
AP_Motors library honors the value for calculations, the RCOutput
drivers that need the scaling to set the real HW scaling will not work.
Right now it scales the value using the throttle_channel's min/max, even
though AP_Motors may be passing values in other range.
 2017-02-26 13:38:24 +11:00
Andrew Tridgell 108cbe1dab AP_Motors: mark tricopter yaw as tricopter only 2017-02-14 19:50:01 +11:00
Andrew Tridgell 2187417d74 AP_Motors: added MOT_SPOOL_TIME 
this allows for quadplanes to have faster spoolup, which can help with
transitions
 2017-02-14 09:23:17 +09:00
Andrew Tridgell 8e3bf71aa9 AP_Motors: allow single, tri and coax to be part of multicopter class 2017-01-12 17:39:37 +11:00
Leonard Hall a09d4db4fd AP_MotorsMulticopter: fix battery resistance calculation 2016-12-14 11:07:29 +09:00
Andrew Tridgell 8468add63e AP_Motors: mark PWM_TYPE as reboot required 2016-11-30 10:53:26 +11:00
Andrew Tridgell ce517384e1 AP_Motors: support MODE_PWM_BRUSHED16KHZ 2016-11-30 10:53:26 +11:00
Jonathan Challinger 22517422f9 AP_Motors: add option to disable motor PWM output while disarmed 2016-11-21 10:49:21 +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
Leonard Hall bead957a78 AP_MotorsMulticopter: limit hover throttle 2016-10-15 11:27:53 +09:00
Leonard Hall 0a56d69d54 AP_MotorsMulticopter: Use same throttle value used by motors 2016-10-10 16:40:08 +09:00
Randy Mackay b63666d188 AP_Motors: increase MOT_THST_HOVER parameter description range 
No functional change
 2016-09-07 15:28:49 +09:00
Randy Mackay 4858afae6c AP_Motors: param description update that MOT_SPIN_MIN should be higher than MOT_SPIN_ARM 2016-09-03 11:12:31 +09:00
Randy Mackay ad697243b3 AP_MotorsMulticopter: initialise some members 
This resolves some Covarity warnings at the cost of a small amount of flash
 2016-08-08 13:31:30 +09:00
Randy Mackay e185bab775 AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save 2016-06-18 11:55:49 +09:00
Randy Mackay ef106e4b0f AP_Motors: spool_mode moved out of flags struction 
No functional change
 2016-06-18 11:55:49 +09:00
Randy Mackay 71d1818103 AP_MotorsMulticopter: minor comment update 2016-06-18 11:55:49 +09:00
Leonard Hall 02881b59ff AP_MotorsMulti: float constants 2016-06-18 11:55:49 +09:00
Leonard Hall bee6c29b89 AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN 2016-06-18 11:55:49 +09:00
Leonard Hall be25ac4acf AP_MotorsMulticopter: Add current limit time constant variable 2016-06-18 11:55:49 +09:00
Leonard Hall 7e0e0ca874 AP_MotorsMulticopter: battery voltage compensation improvements 2016-06-18 11:55:49 +09:00
Leonard Hall 0ee7b00b0b AP_MotorsMulticopter: rename _thrust_curve_min to spin_min 2016-06-18 11:55:49 +09:00
Leonard Hall 5cace33ca5 AP_MotorsMulticopter: SPIN_MIN replaces min_throttle 2016-06-18 11:55:49 +09:00
Leonard Hall 2c811364d3 AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED 2016-06-18 11:55:49 +09:00
Leonard Hall 488f90b39d AP_Motors: add calc_spin_up_to_pwm to reduce repeated code 2016-06-18 11:55:49 +09:00
Randy Mackay 25778a24e2 AP_MotorsMulticopter: add HOVER_LEARN param 2016-06-18 11:55:49 +09:00
Leonard Hall 4f0db2bc36 AP_Motors: learned THST_HOVER replace THR_MID 
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1.  0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
 2016-06-18 11:55:49 +09:00
Leonard Hall 5a8fc6283e AP_Motors: replace throttle_rpy_mix with throttle_avg 
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
 2016-06-18 11:55:49 +09:00
Andrew Tridgell a2ed8fb313 AP_Motors: prevent negative thrust 
this prevents a sqrt of a negative number
 2016-05-26 17:09:11 +10:00
Randy Mackay 8d1f50e78f AP_Motors: rename get_pwm_min to get_pwm_output_min 2016-05-24 10:00:25 +09:00
Randy Mackay 0c225cf498 AP_MotorsMulticopter: fix typo in comments 2016-05-24 10:00:25 +09:00
Randy Mackay ff93524ba4 AP_Motors: rename MOT_THST_MAX to MOT_SPIN_MAX 
Also renamed:
MOT_THST_BAT_MIN,MAX to MOT_BAT_VOLT_MIN,MAX
MOT_CURR_MAX to MOT_BAT_CURR_MAX
 2016-05-24 10:00:25 +09:00
Randy Mackay 49b14b3cb6 AP_Motors: add PWM_MIN, MAX 
These parameters allow the motor PWM output range to be different from receiver's throttle input range
Also renamed throttle_pass_through to set_throttle_passthrough_for_esc_calibration and change the method's input to the 0 to 1 range instead of direct PWM value
 2016-05-24 10:00:25 +09:00
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
Andrew Tridgell 37d6b5fdaf AP_Motors: added output_motor_mask() 
this will be used for tiltrotors in forward flight
 2016-05-11 05:55:23 +10:00
Andrew Tridgell fe2065cd72 AP_Motors: rename MOT_PWM_MODE to MOT_PWM_TYPE 
Randy prefers TYPE
 2016-04-14 08:05:07 +10:00
Andrew Tridgell f54bcc6c7f AP_Motors: added oneshot support via MOT_PWM_MODE 
MOT_PWM_MODE=0 is normal
MOT_PWM_MODE=1 is oneshot
MOT_PWM_MODE=2 is oneshot125
 2016-04-14 08:05:05 +10:00
Randy Mackay 8d77bdec15 AP_MotorsMulti: minor comment fix 2016-04-14 05:45:24 +09:00
Randy Mackay f6eabfdab2 AP_MotorsMulticopter: formatting fixes 2016-04-01 11:59:30 +09:00
Randy Mackay 6807b961e2 AP_MotorsMulticopter: protect against div-by-zero if MOT_SPIN_ARMED is zero 2016-04-01 11:59:30 +09:00