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119 Commits

Author SHA1 Message Date
Peter Barker 41ab59dcdb AP_Motors: eliminate flags structure 
Saves about 44 bytes
 2020-09-22 20:26:24 +10:00
Randy Mackay 2d8c5a7bc4 AP_Motors: remove names from cpp files 2020-07-14 13:27:07 +10:00
Peter Hall 2f036c65f3 AP_Motors: MotorsMulticopter fix floating boost output 2020-03-02 18:22:30 +09:00
Peter Barker c4ed6d0e96 AP_Motors: ensure _pwm_min and _pwm_max are not equal 
AP_Motors: adjust check_mot_pwm_params for clarity
 2020-01-30 14:49:16 +09:00
Randy Mackay bff978570f AP_MotorsMulticopter: fixup check_mot_pwm_params 
fix _pwm_max is positive check
returns true if params are valid
constify method
 2020-01-30 10:01:54 +09:00
Randy Mackay f00bf77af7 AP_MotorsMulticopter: minor formatting fix 2020-01-30 08:33:00 +09:00
ashvath d97fdcac31 Copter: function for mot_pwm checks 2020-01-30 08:29:56 +09:00
Peter Hall d08b395224 AP_Motors: only ouput throttle to mask if armed 2020-01-21 10:11:16 +11:00
Peter Hall 4aa0dfa2aa AP_Motors: output_motor_mask update 2020-01-07 10:40:22 +11:00
Andrew Tridgell 37566d079f AP_Motors: support direct rate outputs for multicopters 2019-10-25 17:11:56 +11:00
Michael du Breuil a80ff80061 AP_Motors: Fix safe disarm 2019-10-16 08:46:49 +11:00
Leonard Hall 6e8413f122 AP_Motors: Use safety timer to enable pwm before spool up 2019-10-16 08:46:49 +11:00
murata 371f11b7f4 AP_Motors: Change to description(NFC) 2019-10-08 08:26:17 +09:00
Andrew Tridgell 39182e70e4 AP_Motors: enable docs for hover thr learning in plane 2019-10-04 14:01:08 +10:00
Leonard Hall 036b47ec56 AP_Motors: Add seperate roll and pitch limits 2019-08-03 12:06:32 +09:00
Michael du Breuil e3f1ef0c5e AP_Motors: Refactor battery current interface 2019-07-14 00:28:00 -07:00
Leonard Hall 77f8ec9f43 AP_Motors: formatting fixes 2019-07-12 09:29:40 +09:00
Peter Barker 1e606cdc5b AP_Motors: make desired spool state and spool state enum-classes 
This will help avoid getting the enumerations mixed up
 2019-04-14 12:18:03 +09:00
Mark Whitehorn 35928a8d05 AP_Motors: fix regression for tiltrotors 2019-01-29 08:10:27 +09:00
Randy Mackay 1fa335a77b AP_Motors: actuator_spin_up renamed to include _to_ground_idle 2019-01-21 20:55:07 +09:00
Randy Mackay e2bd502b83 AP_Motors: minor format fixes 2019-01-21 20:13:43 +09:00
Matt 3d3f06cacb AP_Motors: Add actuator output slew time to multicopters 
Adds slew time limiting for throttling up and throttling down to multicopters.  New parameters MOT_SLEW_UP_TIME and MOT_SLEW_DN_TIME added.  0 = disabled, no slew limiting.  Valid values are 0 to 0.5 seconds.  Also reworked functions related to linearization and PWM conversion to make more flexible throughout the code.
 2019-01-21 20:07:58 +09:00
bnsgeyer ac87b3e1e5 AP_Motors: spool state moved from multi to parent 
Also rename SPIN_WHEN_ARMED to GROUND_IDLE
 2019-01-15 11:41:44 +09:00
IamPete1 c26948ef59 AP_Motors: multicopter apply diffential thrust in forward flight 2019-01-15 10:19:19 +11:00
expntly 790f609373 AP_Motors: document Hover_learn as copter only 2019-01-03 09:50:22 +09:00
Randy Mackay a5699c7d5a AP_Motors: boost-scale param desc update 2018-12-27 10:08:14 +09:00
Randy Mackay db9ce0064b AP_Motors: esc calibration outputs to throttleRight and throttleLeft 2018-12-21 11:19:18 +09:00
Andrew Tridgell f71013928a AP_Motors: force PWM range for DShot to 1000 to 2000 2018-11-16 08:33:35 +11:00
Leonard Hall 2f87d8808f AP_Motors: handle boost in spool up and down the same way 2018-10-16 00:44:50 +09:00
Leonard Hall 4774cb8daf AP_Motors: improved motor loss redundancy 
This detects a failed motor on copters with at least 6 motors
and recalculates the mixer to compensate
 2018-10-16 00:44:50 +09:00
Randy Mackay a5c59ce36e AP_Motors: include boost_throttle in get_motor_mask 2018-08-27 10:35:02 +09:00
Peter Barker 937d8dac97 AP_Motors: remove unneeded initialisations 2018-07-23 16:30:40 +09:00
Andrew Tridgell bd9df6d0ec AP_Motors: added DShot to parameter docs 2018-04-07 09:10:29 +10:00
Michael du Breuil 050b8ebb32 AP_Motors: Allow specifying which battery is used for compensation 2018-03-27 22:12:21 +01:00
Michael du Breuil 98e327640d AP_Motors: Use battery singleton 2018-03-27 22:12:21 +01:00
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