22517422f9
AP_Motors: add option to disable motor PWM output while disarmed
2016-11-21 10:49:21 +09:00
152edf7189
Global: remove mode line from headers
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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
a1b573ed0a
AP_Motors: rename throttle_ave_max to throttle_avg_max
2016-06-18 11:55:49 +09:00
ef106e4b0f
AP_Motors: spool_mode moved out of flags struction
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No functional change
2016-06-18 11:55:49 +09:00
488f90b39d
AP_Motors: add calc_spin_up_to_pwm to reduce repeated code
2016-06-18 11:55:49 +09:00
5a8fc6283e
AP_Motors: replace throttle_rpy_mix with throttle_avg
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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
8d1f50e78f
AP_Motors: rename get_pwm_min to get_pwm_output_min
2016-05-24 10:00:25 +09:00
49b14b3cb6
AP_Motors: add PWM_MIN, MAX
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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
60b3625950
AP_Motors: added hook for vehicle based thrust compensation
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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
37d6b5fdaf
AP_Motors: added output_motor_mask()
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this will be used for tiltrotors in forward flight
2016-05-11 05:55:23 +10:00
7af9892bd1
AP_MotorsMatrix: make const a float
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resolves compiler warning
2016-04-23 23:06:25 -07:00
f2c63e24c5
AP_Motors: allow tricopter motor 7 to be moved to any output
2016-04-22 08:32:03 +10:00
f4d94806e5
AP_MotorsMatrix: remove output_min
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This is now implemented by parent AP_MotorsMulticopter
2016-04-01 11:59:30 +09:00
8f8eb7e214
AP_MotorsMatrix: add normalise_rpy_factors
2016-04-01 11:59:30 +09:00
027284fba0
AP_MotorsMatrix: roll, pitch, yaw input in -1 to +1 range
2016-04-01 11:59:30 +09:00
397940a9a4
AP_MotorsMatrix: implement output_to_motors
2016-04-01 11:59:30 +09:00
cdec8f3387
AP_MotorsMatrix: remove output_disarmed
2016-04-01 11:59:30 +09:00
b965857229
AP_MotorsMatrix: remove output_armed_not_stabilizing
2016-04-01 11:59:30 +09:00
d0c6d087a5
AP_MotorsMatrix: do not set limits in output_min
2016-04-01 11:59:30 +09:00
3fef60da45
AP_MotorsMatrix: stability patch in 0 to 1 range
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Includes storing motor level thrusts to _thrust_rpyt_out
rename _throttle_thr_mix_desired to _throttle_rpy_mix_desired
rename _throttle_thr_mix to _throttle_rpy_mix
use get_hover_throttle_as_high_end_pct
use throttle_thrust_max updated by multicopter spool logic
do not set limits in stability patch
2016-04-01 11:59:30 +09:00
7c9ee9363b
AP_Motors: added rc_map_mask() function
2016-01-06 22:09:40 +11:00
dfccf8f713
AP_Motors: also wrap set_freq and enable_ch for motor mapping
2016-01-06 22:09:40 +11:00
77af00c5e1
AP_Motors: allow arbitrary mapping of channels on multirotors
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using RCn_FUNCTION with motor1, motor2 etc
2016-01-06 22:09:40 +11:00
d31ba2b380
AP_Motors: added rc_write function
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this is intended to make remapping motors and rescaling output easier
2016-01-04 16:56:54 +11:00
2591261af6
Global: rename min and max macros to uppercase
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The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
f43f6c53f7
AP_Motors: Group writes to motors
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Surround calls to rcout->write() with rcout->cork() and rcout->push().
If the RCOutput implementation allows the writes are grouped and only
sent together to the underlying hardware.
2015-10-06 10:42:18 +11:00
1572c9d4f4
AP_MotorsMatrix: get rid of _motor_to_channel_map
2015-09-29 12:00:56 +09:00
1e619c6c59
AP_Motors: standardize inclusion of libaries headers
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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
112e934072
AP_MotorsMatrix: remove call to empty parent Init
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Also rename uses of Multirotor to Multicopter
2015-07-21 16:25:43 +09:00
6bf6442396
MotorsMatrix; protect against divide by zero
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This should never happen but just to be safe
2015-07-20 20:44:43 +09:00
e53c46bd8f
MotorsMatrix: fix output_armed_stabilized min thr limit
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_min_throttle was being used as if it were in the 0 to 1000 range when
in fact it is in the pwm range. This meant the lower limit was too low.
2015-07-20 20:44:14 +09:00
b8181b6b90
AP_Motors: RCMAP fix
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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
0f894ac1a8
AP_Motors: Rename and move Throttle Mix / Comp
2015-05-08 14:14:17 +09:00
41ae7207c7
AP_Motors: scale roll/pitch/yaw gain for air density
2015-04-29 14:36:15 +09:00
8e442675a7
AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output
2015-04-16 20:59:40 +09:00
31a55b2bd6
MotorsMatrix: fix div by zero by ensuring throttle is above min
2015-03-16 14:49:31 +09:00
3ad9b1a06b
AP_MotorsMatrix: remove incorrect throttle limit flag
2015-03-06 14:02:55 +09:00
3e960dfc3b
Motors: add get_voltage_comp_gain
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This clarifies that lift_max is the inverse of the battery voltage gain
compensation
2015-03-03 15:49:04 +09:00
997c6f0868
Motors: move battery resistance calcs to parent
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Moving from MotorsMatrix to parent Motors class allows these to be used
from other frame types
Also initialise battery resistance
2015-03-03 15:49:02 +09:00
529c6fed3a
Motors: move over current throttle limiting to parent
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Moving from MotorsMatrix to parent Motors class allows this to be used
from other frame types
2015-03-03 15:48:54 +09:00
812473fd9a
MotorsMatrix: use get_hover_throttle_as_pwm
2015-03-03 15:48:52 +09:00
6b7bdf64bd
Motors: move batt voltage lift_max calcs to parent
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Moving from MotorsMatrix to parent Motors class allows them to be used
by other frame types
Also added sanity check of batt_voltage_min
2015-03-03 15:48:48 +09:00
c549b58eb7
MotorsMatrix: remove check of throttle_curve_enabled
2015-03-03 15:48:46 +09:00
751dbb7df7
Motors: move thrust curve and volt scaling to parent
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Moving from MotorsMatrix to Motors allows it to be used from other frames
2015-03-03 15:48:41 +09:00
ec9d7dd99e
Motors: minor comment fixes
2015-03-03 15:48:30 +09:00
1d0ee68116
Motors: over current throttle limiting
2015-03-03 15:48:28 +09:00
f6523c0997
Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control
2015-03-03 15:48:21 +09:00
83e3e2fec2
Motors: thrust curve and voltage scaling for matrix supported frames
2015-03-03 15:48:19 +09:00
5b0bd49ff2
Motors: configurable yaw headroom for matrix frames
2015-03-03 15:48:15 +09:00
85fb4b122a
MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag
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Also trigger throttle_upper flag when throttle in reaches 1000
2014-10-04 23:49:14 +09:00
Jonathan Challinger
Mathieu OTHACEHE
Randy Mackay
Leonard Hall
Andrew Tridgell
Lucas De Marchi
Gustavo Jose de Sousa
Robert Lefebvre