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61 Commits

Author SHA1 Message Date
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
Randy Mackay b4b33db79b AP_MotorsMulticopter: promote output_min from Matrix class 2016-04-01 11:59:30 +09:00
Randy Mackay e7ba5ae451 AP_MotorsMulticopter: fix get_hover_throttle_as_high_end_pct 2016-04-01 11:59:30 +09:00
Randy Mackay c41a5dc3bd AP_MotorsMulticopter: remove slow_start 
This has been replaced with the spool logic feature
 2016-04-01 11:59:30 +09:00
Randy Mackay 68a6408a23 AP_MotorsMulticopter: remove set_radio_passthrough 
This has been moved up to the AP_Motors class
 2016-04-01 11:59:30 +09:00
Randy Mackay 2716126e40 AP_MotorsMulticopter: use desired_spool from AP_Motors class 2016-04-01 11:59:30 +09:00
Leonard Hall 5841310ac7 AP_MotorsMulticopter: update_throttle_filter limits throttle to 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall 420b90953c AP_MotorsMulticopter: throttle_radio_min, max to multicopter class 
Moved in from Motors class, only ever used by multicopters
No functional change
 2016-04-01 11:59:30 +09:00
Leonard Hall 2c9a02066d AP_MotorsMulticopter: remove unused functions and variables 2016-04-01 11:59:30 +09:00
Leonard Hall 290e657f61 AP_MotorsMulticopter: update_battery_resistance captures resting voltage while disarmed 
Previously it could also capture this when the input throttle was zero
 2016-04-01 11:59:30 +09:00
Leonard Hall bc42cb2a66 AP_MotorsMulticopter: update_battery_resistance uses get_throttle accessor 2016-04-01 11:59:30 +09:00
Leonard Hall 8228d9e72c AP_MotorsMulticopter: current_limit_max_throttle uses get_throttle accessor 2016-04-01 11:59:30 +09:00
Leonard Hall d7dc37bda0 AP_MotorsMulticopter: remove apply_thrust_curve_and_volt_scaling_pwm 2016-04-01 11:59:30 +09:00
Leonard Hall 06f25b669d AP_MotorsMulticopter: add roll, pitch, throttle and yaw pass through 2016-04-01 11:59:30 +09:00
Leonard Hall 983d2dc97a AP_MotorsMulticopter: update_throttle_filter does not set throttle_in 
get_throttle method now used to access filtered throttle
 2016-04-01 11:59:30 +09:00
Leonard Hall 3fc3858fbd AP_MotorsMulticopter: set_throttle_range calcs _min_throttle before use 2016-04-01 11:59:30 +09:00
Leonard Hall b26318c178 AP_MotorsMulticopter: output_logic implements spooling 2016-04-01 11:59:30 +09:00
Leonard Hall b7fe6aa16e AP_MotorsMulticopter: remove update_max_throttle 2016-04-01 11:59:30 +09:00
Leonard Hall be64c71065 AP_MotorsMulticopter: add get_current_limit_max_throttle 
returns the current limited maximum throttle as a number between 0 ~ 1 in the range throttle_min to throttle_max
 2016-04-01 11:59:30 +09:00
Leonard Hall 49819d822f AP_MotorsMulticopter: add get_hover_throttle_as_high_end_pct 
Returns hover throttle as a number from 0 to 1 in the range from throttle_min to throttle_max
 2016-04-01 11:59:30 +09:00
Leonard Hall 3854f2eda7 AP_MotorsMulticopter: rename _throttle_thr_mix_desired to _throttle_rpy_mix_desired 
No functional change
Also rename _throttle_thr_mix to _throttle_rpy_mix
 2016-04-01 11:59:30 +09:00
Leonard Hall 65bbc23a08 AP_MotorsMulticopter: apply_thrust_curve_and_volt_scaling in 0 to 1 range 
existing equivalent pwm function becomes apply_thrust_curve_and_volt_scaling_pwm
 2016-04-01 11:59:30 +09:00
Leonard Hall cb39f8aab7 AP_MotorsMuticopter: calc_thrust_to_pwm converts thrust in 0 to 1 range to pwm 
pwm output is always between throttle min and throttle max
 2016-04-01 11:59:30 +09:00
Jonathan Challinger 9a09a86bb8 AP_Motors: add AP_MOTORS_DENSITY_COMP_DISABLED option 2016-01-27 09:18:09 +09:00