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10841 Commits

Author SHA1 Message Date
Leonard Hall 4d208fcd47 AP_MotorsTri: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 027284fba0 AP_MotorsMatrix: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall ae4e495698 AP_Motors: roll, pitch, yaw input in -1 to +1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 90b3d7ca39 AP_Motors: example sketch tests stab patch more thoroughly 2016-04-01 11:59:30 +09:00
Leonard Hall cef3f42df5 AP_Motors: fix example make.inc 2016-04-01 11:59:30 +09:00
Leonard Hall 1174ad3e66 AC_InputManager_Heli: get_pilot_desired_throttle in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall d312e52aee AC_InputManager: add f for float constants 2016-04-01 11:59:30 +09:00
Leonard Hall c64a505906 AC_PosControl: relax_alt_hold_controllers accepts throttle in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 15be80a25d AC_PosControl: accel_to_throttle outputs 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall e5d6d45851 AC_AttControl_Heli: angle_boost to float 2016-04-01 11:59:30 +09:00
Leonard Hall 2822b93cd4 AC_AttControl: add get_throttle_in accessor 
Used for logging only
 2016-04-01 11:59:30 +09:00
Leonard Hall c0f209fa42 AC_AttControl: angle_boost to float 2016-04-01 11:59:30 +09:00
Leonard Hall 6f29bbafb4 AC_AttControl_Multi: get_althold_lean_angle_max uses motor thrust in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 24f975c16a AC_AttControl_Multi: fix throttle boost for 0 to 1 2016-04-01 11:59:30 +09:00
Leonard Hall bab08cbcc1 AC_AttControl_Multi: add divide by zero check 2016-04-01 11:59:30 +09:00
Leonard Hall d2a1cdf906 MotorsHeli: replace throttle_control_input with throttle_in 
throttle_control_input was 0 to 1000 range, throttle_in is 0 to 1
 2016-04-01 11:59:30 +09:00
Leonard Hall f02e8f8e01 AP_MotorsHeli: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 5cd4b78918 AP_MotorsSingle: remove reverse parameters 
No longer necessary because we can use individual servo reverse params
 2016-04-01 11:59:30 +09:00
Leonard Hall 6264159f4d AP_MotorsSingle: move servo objects into Single class 2016-04-01 11:59:30 +09:00
Leonard Hall 21d304b86d AP_MotorsSingle: output_to_motors implements spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall 24a100e429 AP_MotorsSingle: stability patch uses 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall cffdced838 AP_MotorsSingle: support 4 servo outputs 2016-04-01 11:59:30 +09:00
Leonard Hall f53d6e95e8 AP_MotorsSingle: rename _rev_roll to _roll_reverse 
Also rename _rev_pitch to _pitch_reverse and _rev_yaw to _yaw_reverse
 2016-04-01 11:59:30 +09:00
Leonard Hall 4db73d86af AP_MotorsSingle: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall 46ab198ebc AP_MotorsSingle: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 40c18891cf AP_MotorsCoax: remove reverse parameters 
No longer necessary because we can use individual servo reverse params
 2016-04-01 11:59:30 +09:00
Leonard Hall 260006dcb3 AP_MotorsCoax: move servo objects into Coax class 2016-04-01 11:59:30 +09:00
Leonard Hall 110d41ee24 AP_MotorsCoax: fix SV_SPEED param description 2016-04-01 11:59:30 +09:00
Leonard Hall 8d8f52b22f AP_MotorsCoax: output_to_motors implements spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall b85c20bb65 AP_MotorsCoax: stability patch in 0 to 1 range 
Also removes setting of limits in stability patch
sets outputs for additional 2 servos
 2016-04-01 11:59:30 +09:00
Leonard Hall 7df9b2eb8c AP_MotorsCoax: support 4 servo outputs 2016-04-01 11:59:30 +09:00
Leonard Hall 7d6c6b5556 AP_MotorsCoax: rename _rev_roll to _roll_reverse 
Also rename _rev_pitch to _pitch_reverse and _rev_yaw to _yaw_reverse
 2016-04-01 11:59:30 +09:00
Leonard Hall 5cb44901ff AP_MotorsCoax: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall 3df52aad5f AP_MotorsCoax: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 45a16d6dad AP_MotorsTri: implement output_to_motors for spool logic 2016-04-01 11:59:30 +09:00
Leonard Hall d0a7579fa0 AP_MotorsTri: stability patch in 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 80f77bc30b AP_MotorsTri: output_min does not set limits 2016-04-01 11:59:30 +09:00
Leonard Hall ba659be5cb AP_MotorsTri: rename _yaw_servo_reverse to _yaw_reverse 2016-04-01 11:59:30 +09:00
Leonard Hall 8c4d6d6fbe AP_MotorsTri: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall a2fdcfaf3f AP_MotorsTri: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 397940a9a4 AP_MotorsMatrix: implement output_to_motors 2016-04-01 11:59:30 +09:00
Leonard Hall cdec8f3387 AP_MotorsMatrix: remove output_disarmed 2016-04-01 11:59:30 +09:00
Leonard Hall b965857229 AP_MotorsMatrix: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall d0c6d087a5 AP_MotorsMatrix: do not set limits in output_min 2016-04-01 11:59:30 +09:00
Leonard Hall 3fef60da45 AP_MotorsMatrix: stability patch in 0 to 1 range 
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
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 3cbc15bb5b AP_MotorsMulticopter: add get_throttle_thrust_max 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 d7c27c949c AP_MotorsMulticopter: add spool_up_complete accessor function 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 64ba45a683 AP_MotorsMulticopter: add spin_when_armed_low_end_pct 
returns the spin-when-armed value as a number from 0 to 1 in the range 0 to throttle_min
 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 e625c105a4 AP_MotorsMulticopter: remove get_throttle_warn 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
Leonard Hall 80ddce103f AP_Motors: move set_throttle_filter_cutoff declaration 
No functional change
 2016-04-01 11:59:30 +09:00
Leonard Hall 649a8c461d AP_Motors: remove unused throttle_radio_min, max 
Moved to AP_MotorsMulticopter
 2016-04-01 11:59:30 +09:00
Leonard Hall e84011603c AP_Motors: remove unused throttle_pwm_scalar, rpy_pwm_scalar 2016-04-01 11:59:30 +09:00
Leonard Hall 8e1351e474 AP_Motors: init member to resolve compiler warning 2016-04-01 11:59:30 +09:00
Leonard Hall ed51c7a28d AP_Motors: replace throttle_control_input with throttle_in 
throttle_control_input was 0 to 1000 range, throttle_in is 0 to 1
 2016-04-01 11:59:30 +09:00
Leonard Hall c96b91efb6 AP_Motors: add output_to_motors 2016-04-01 11:59:30 +09:00
Leonard Hall ac579685df AP_Motors: remove output_armed_not_stabilizing 2016-04-01 11:59:30 +09:00
Leonard Hall 666a92ae2f AP_Motors: set_throttle accepts 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 3c74b4cc69 Motors: add get_roll_thrust which returns roll input in range 0 to 1 
Also added get_pitch_thrust, get_yaw_thrust
 2016-04-01 11:59:30 +09:00
Lucas De Marchi f304fcf4da AP_InertialSensor: examples: add coding style fixes 
Several coding style problems were already fixed by previous commit,
just finish the cleanup on this example:

  - replace tabs with spaces
  - remove unneeded \r
  - remove extra spaces
 2016-03-31 14:54:17 -03:00
AndersonRayner 10e7d43007 AP_InertialSensor: Add output of all IMUs to example 2016-03-31 14:54:17 -03:00
Lucas De Marchi a502c0924c GCS_MAVLink: simplify sanity check 2016-03-30 01:32:45 -03:00
Francisco Ferreira d3e149e5d7 GCS_MAVLink: ignore Clang out-of-range warning 
warning: comparison of constant 4 with expression of type 'mavlink_channel_t' is always false [-Wtautological-constant-out-of-range-compare]
    if (chan >= MAVLINK_COMM_NUM_BUFFERS) {
        ~~~~ ^  ~~~~~~~~~~~~~~~~~~~~~~~~
 2016-03-30 01:32:45 -03:00
Marc MERLIN 5bcd1b02ef RSSI channel is not limited to 5-8. 
Fix doc per my request on https://github.com/ArduPilot/ardupilot/issues/3280
 2016-03-29 08:16:42 -07:00
Tom Pittenger 6718241dad cleanup comments 2016-03-29 05:32:28 -07:00
Andrew Tridgell 894e07a0bd AP_Parachute: added CHUTE_DELAY_MS parameter 
on fixed wing it may take quite some time for the propeller to stop
 2016-03-29 05:48:40 +11:00
Andrew Tridgell 73a2c99d56 SITL: limit rotational rate to 2000dps 2016-03-26 14:23:05 +11:00
Andrew Tridgell 4d01cb1716 HAL_SITL: fixed SITL engine mul error 
expression without get() was treated as int
 2016-03-26 14:17:12 +11:00
Andrew Tridgell b4c6a0e30e AP_TECS: added logging of speed_weight and state flags 2016-03-26 08:41:09 +11:00
Andrew Tridgell 8ff932b61c AP_TECS: allow underspeed to end faster 
we now can exit an underspeed condition if we stay above min speed for
3 seconds and also reach 15% above min speed. This prevents a problem
with the thrust line causing downpitch leading to a crash due to too
much throttle
 2016-03-26 07:44:22 +11:00
Andrew Tridgell 1ecfa6b487 RC_Channel: fixed example in SITL 2016-03-25 21:35:33 +11:00
Andrew Tridgell 5c92adddf9 HAL_SITL: allow examples to run under SITL 2016-03-25 21:35:16 +11:00
Andrew Tridgell 1e4fe7996e HAL_Linux: update URL 2016-03-25 20:47:53 +11:00
Andrew Tridgell 9737050a23 HAL_FLYMAPLE: update URL 2016-03-25 20:47:44 +11:00
Andrew Tridgell 664d91802e HAL_AVR: update URL 2016-03-25 20:47:35 +11:00
Andrew Tridgell 075dd49afe DataFlash: added Log_Write_Rate() 
needed for quadplane as well as copter so should be in common code
 2016-03-25 12:13:58 +11:00
Andrew Tridgell ab07781c66 APM_Control: raise default P and I gains, and set a lower limit on I for pitch 
Too many users have very low I gains, which causes a lot of problems for TECS
 2016-03-25 09:54:53 +11:00
Lucas De Marchi 46936767c1 AP_Compass: LSM303D: check for overruns in compass values 2016-03-23 17:50:38 -03:00
Lucas De Marchi cf2d866d51 AP_Compass: LSM303D: used AP_HAL::Device interface 
Initialization was also changed a little bit so we don't try to
initialize 25 times. We rather use the same methods as in the
AP_InertialSensor drivers.

Also move up the call to is_zero() in read_raw so we don't set
_mag_[x|y|z] in case of failure.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi 5164fbb81b AP_Compass: LSM303D: cleanup driver 
Make it similar to other compass drivers, including method names.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi 20a4a42cb3 AP_Compass: don't store raw and unfiltered fields 
These are not used. The only place where raw fields are used are in the
compass calibrator and we don't need to store them.

Additionally remove duplicated documentation about the meaning of the
functions to avoid them getting out of sync.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi e6059f5197 AP_Compass: rename files to follow other libraries 
AP_Compass.h is the main header to be exported and AP_Compass.cpp its
implementation. There's no need for an additional header.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi 286697b844 AP_Compass: don't rebuild tree when single driver changes 
Let the drivers be internal to the library so we don't need to rebuild
the entire tree when a single driver changes.
 2016-03-23 17:50:38 -03:00
Lucas De Marchi d3831dbb98 AP_Compass: AK8963: use AP_HAL::I2CDevice abstraction 
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.
 2016-03-23 17:50:38 -03:00