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752 Commits

Author SHA1 Message Date
rmackay9 c0cf2d6f38 AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved 2012-10-11 17:19:54 +09:00
rmackay9 c320938ff2 AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability. 
Resolves climb-on-yaw problem.
 2012-10-09 15:48:15 +09:00
rmackay9 6ed59fba91 AP_Motors: enable throttle curve by default 2012-09-25 23:36:35 +09:00
rmackay9 bc2aa84394 AP_Motors: remove stray debug message re set-up of throttle curve 2012-09-23 12:25:31 +09:00
Robert Lefebvre 9e32d45d7b Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges. 2012-09-19 20:43:58 -04:00
rmackay9 93ae29a3e9 ArduCopter: added throttle curve (although disabled by default) for all multicopters 2012-09-18 23:05:08 +09:00
rmackay9 9e66b555cb ArduCopter: removed INSTANT_PWM from ArduCopter and AP_Motors library 2012-09-13 21:31:13 +09:00
uncrustify 744ad19630 uncrustify libraries/AP_Motors/AP_MotorsHeli.h 2012-08-21 19:19:52 -07:00
uncrustify b1b1975018 uncrustify libraries/AP_Motors/AP_MotorsHeli.cpp 2012-08-21 19:19:52 -07:00
uncrustify 40dcf9e7a8 uncrustify libraries/AP_Motors/AP_MotorsOctaQuad.h 2012-08-21 19:04:07 -07:00
uncrustify 3a5b8c5482 uncrustify libraries/AP_Motors/AP_MotorsOcta.h 2012-08-21 19:04:07 -07:00
uncrustify 4a44c6a1ba uncrustify libraries/AP_Motors/AP_MotorsTri.h 2012-08-21 19:04:07 -07:00
uncrustify d773a9c43b uncrustify libraries/AP_Motors/AP_Motors.h 2012-08-21 19:04:07 -07:00
uncrustify 4fe97c1e7b uncrustify libraries/AP_Motors/AP_MotorsMatrix.h 2012-08-21 19:04:07 -07:00
uncrustify b8cc5ac4af uncrustify libraries/AP_Motors/AP_MotorsY6.h 2012-08-21 19:04:07 -07:00
uncrustify 4cb9f57565 uncrustify libraries/AP_Motors/AP_MotorsHexa.h 2012-08-21 19:03:59 -07:00
uncrustify d3c856e889 uncrustify libraries/AP_Motors/AP_MotorsQuad.h 2012-08-21 19:03:59 -07:00
uncrustify 5ec922104a uncrustify libraries/AP_Motors/AP_MotorsHexa.cpp 2012-08-21 19:03:59 -07:00
uncrustify b982cca74e uncrustify libraries/AP_Motors/AP_Motors.cpp 2012-08-21 19:03:59 -07:00
uncrustify cc0c424eed uncrustify libraries/AP_Motors/AP_MotorsY6.cpp 2012-08-21 19:03:59 -07:00
uncrustify dc21cc1003 uncrustify libraries/AP_Motors/AP_MotorsOctaQuad.cpp 2012-08-21 19:03:59 -07:00
uncrustify c7f8c4dfa7 uncrustify libraries/AP_Motors/AP_MotorsMatrix.cpp 2012-08-21 19:03:59 -07:00
uncrustify 6c33f81e9d uncrustify libraries/AP_Motors/AP_MotorsOcta.cpp 2012-08-21 19:03:59 -07:00
uncrustify 41c1205f26 uncrustify libraries/AP_Motors/AP_MotorsQuad.cpp 2012-08-21 19:03:35 -07:00
uncrustify df5d1a8aef uncrustify libraries/AP_Motors/AP_MotorsTri.cpp 2012-08-21 19:03:35 -07:00
uncrustify 364b089bd3 uncrustify libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.pde 2012-08-21 19:03:35 -07:00
Robert Lefebvre 575b99b4be TradHeli: Creating Flybar Acro mode. 2012-08-21 16:54:01 -04:00
Robert Lefebvre bf6c934c32 Changing TradHeli param motors.acro_mode to motors.flybar_mode to better reflect it's intent. 2012-08-20 23:13:50 -04:00
Robert Lefebvre e6b5af7143 Adding new Trad Heli parameters. 2012-08-20 16:45:19 -04:00
Jason Short e12ce1d5a7 MOTORS Mixer: temp removal of Yaw Contrib code 2012-08-09 17:00:11 -07:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Robert Lefebvre 4ffc5e211a Fixing Trad Heli Ext ESC Controller 
-Added ramp-down rate instead of instantly setting ramp to zero when throttle is dropped to bottom. This is to allow "warm-restart" if shutdown was unintentional.
-Actual ESC still goes to zero while throttle is dropped to the bottom, only the ramp counter winds down slowly behind the scenes.
 2012-07-31 17:47:25 -04:00
rmackay9 acef75319c AP_MotorsMatrix: small bug fix to limit checking on remove_motor call. Fix thanks to Michael Peschel! 2012-07-16 00:38:58 +09:00
Robert Lefebvre ed235a3924 Change to prevent Tricopter servos from going hard-over during Disarmed state. 
Believe this was an oversight when the change to AP_Motors went in.
 2012-07-13 23:12:26 -04:00
Robert Lefebvre 8ce9aae2f7 Instituting Yaw Differential on Multirotors. Intent is to stop "rise on yaw input". 
Since motors with increasing speed due to yaw input seem to generate more thrust that motors that slow lose thrust, thus net thrust goes up, causing copter to climb.
Values are a guesstimate, proven out by test flying.  This could probably become a parameter.
 2012-07-13 22:59:28 -04:00
rmackay9 b5f47f5e63 AP_Motors: clarified some doxygen descriptions for TradHeli 2012-07-05 08:46:50 +09:00
Robert Lefebvre 238a1ced2c TradHeli adding ramp up time to Ch8 Throttle Pass-through. 2012-06-07 22:55:47 -04:00
Robert Lefebvre df17ff3bc1 AP_MotorsHeli Syntax correction. 2012-06-04 15:53:07 -04:00
rmackay9 c82a403b88 AP_MotorsHeli: Added reference to "Arduino.h" to allow autotest builder to work. 
Moved around initialisation of parmeters in AP_MotorHeli object to remove compiler warnings.
 2012-06-02 16:13:23 +09:00
Robert Lefebvre 5f058fb9b2 TradHeli: Incorporating Ext ESC Control 2012-05-30 21:50:25 -04:00
Robert Lefebvre 56335e81e4 Fix TradHeli Collective Yaw Effect bug. 2012-05-25 15:25:21 -04:00
rmackay9 357d6c2d9b ArduCopter: bug fix for reversing tri servo 
Extended AP_MotorsTri class to take in pointer to rc_tail servo (rc_7) and we use this servo's REV parameter to determine whether to reverse the output to the tail servo or not
 2012-05-13 12:36:46 +09:00
Adam M Rivera 56d3fa1601 Parameters.pde/AP_MotorsHeli: Updated comments to leverage the new value aliases 2012-04-28 20:50:41 -05:00
Adam M Rivera 239323eaa4 Parameters.pde/AP_MotorsHeli.cpp: Added comments from Roberts clone. 2012-04-26 18:26:14 -05:00
rmackay9 11a384a7ff AP_Motors - allow tail servo to be reversed. Closes ArduCopter issue #228 2012-04-21 23:07:57 +09:00
rmackay9 53827f2e92 AP_MotorsMatrix - fixed stability patch issue in which it would not limit a motor's output unless an opposite motor had been defined. This would only have affected Y6 frames. 2012-04-07 12:16:12 +09:00
rmackay9 127a990509 AP_MotorsOcta - V Frame - test order fix spotted by David Wiens 2012-04-07 08:11:28 +09:00
rmackay9 f6e1509d05 AP_Motors - fixed last "shadowing" compiler warning caused by badly named parameter in auto_armed method. 2012-04-05 00:28:04 +09:00
rmackay9 1e20d7de88 AP_MotorsMatrix - fixed another compiler error regarding shadowing a variable. Fixed by removing those the angle and direction arrays which weren't even used 2012-04-05 00:24:56 +09:00
rmackay9 7a8973eaf0 AP_MotorsHeli - fixed compiler warning re move_swash function declared with int parameters in .h file but actually using int16_t in .cpp file. They're the same in arduino but perhaps the build checker is a little more strict that Arduino. 2012-04-05 00:06:33 +09:00
rmackay9 926211f0f0 AP_Motors - fix compiler warning re shadowing a variable caused by badly named parameter in armed function. 
Another compiler warning fixed in AP_MotorsMatrix.cpp caused by declaring "i" twice.
 2012-04-04 23:59:51 +09:00
rmackay9 b71877366e ArduCopter - AP_Motors library - added new library which has few advantages over current code: 
1. it's step towards rearchitecting the current code base ahead of a move to RTOS.
     2. internally it uses a MatrixTable for the Quad, Octa, OctaQuad, Y6 frames.
     3. it implements the missing stability patch for Octa and OctaQuads (still missing for Y6)

Later check-ins will incorporate into the main ArduCopter code.
 2012-04-02 17:26:37 +09:00