Andrew Tridgell
7c9ee9363b
AP_Motors: added rc_map_mask() function
2016-01-06 22:09:40 +11:00
Andrew Tridgell
dfccf8f713
AP_Motors: also wrap set_freq and enable_ch for motor mapping
2016-01-06 22:09:40 +11:00
Andrew Tridgell
77af00c5e1
AP_Motors: allow arbitrary mapping of channels on multirotors
...
using RCn_FUNCTION with motor1, motor2 etc
2016-01-06 22:09:40 +11:00
Andrew Tridgell
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
Lucas De Marchi
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
Lucas De Marchi
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
Lucas De Marchi
1572c9d4f4
AP_MotorsMatrix: get rid of _motor_to_channel_map
2015-09-29 12:00:56 +09:00
Gustavo Jose de Sousa
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
Randy Mackay
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
Randy Mackay
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
Randy Mackay
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
Robert Lefebvre
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
Leonard Hall
0f894ac1a8
AP_Motors: Rename and move Throttle Mix / Comp
2015-05-08 14:14:17 +09:00
Jonathan Challinger
41ae7207c7
AP_Motors: scale roll/pitch/yaw gain for air density
2015-04-29 14:36:15 +09:00
Jonathan Challinger
8e442675a7
AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output
2015-04-16 20:59:40 +09:00
Leonard Hall
31a55b2bd6
MotorsMatrix: fix div by zero by ensuring throttle is above min
2015-03-16 14:49:31 +09:00
Leonard Hall
3ad9b1a06b
AP_MotorsMatrix: remove incorrect throttle limit flag
2015-03-06 14:02:55 +09:00
Leonard Hall
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
Leonard Hall
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
Leonard Hall
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
Randy Mackay
812473fd9a
MotorsMatrix: use get_hover_throttle_as_pwm
2015-03-03 15:48:52 +09:00
Leonard Hall
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
Randy Mackay
c549b58eb7
MotorsMatrix: remove check of throttle_curve_enabled
2015-03-03 15:48:46 +09:00
Leonard Hall
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
Leonard Hall
ec9d7dd99e
Motors: minor comment fixes
2015-03-03 15:48:30 +09:00
Leonard Hall
1d0ee68116
Motors: over current throttle limiting
2015-03-03 15:48:28 +09:00
Randy Mackay
f6523c0997
Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control
2015-03-03 15:48:21 +09:00
Leonard Hall
83e3e2fec2
Motors: thrust curve and voltage scaling for matrix supported frames
2015-03-03 15:48:19 +09:00
Leonard Hall
5b0bd49ff2
Motors: configurable yaw headroom for matrix frames
2015-03-03 15:48:15 +09:00
Randy Mackay
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
NullVoxPopuli
c672b3e324
Copter: Added support for V-Shaped and A-Shaped VTail Quadcopter frames
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Signed-off-by: NullVoxPopuli <LPSego3+dev@gmail.com>
2014-08-18 14:31:01 +09:00
Randy Mackay
b665ebd7a0
MotorsMatrix: implement get_motor_mask
2014-07-26 16:33:24 +09:00
Randy Mackay
d63d82ec17
MotorMatrix: output_test for individual motors
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Based on original work by Nils Hogberg
2014-04-29 11:41:10 +09:00
Jonathan Challinger
9959a44453
AP_Motors: properly constrain thr_adj_max
2014-04-07 14:14:32 +09:00
Randy Mackay
8d6eb1eceb
MotorsMatrix: motor_to_channel_map moved to progmem
2014-02-15 05:27:50 +11:00
Randy Mackay
cf1d6854b9
AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels
2014-02-15 05:27:49 +11:00
Randy Mackay
2c6470f87b
AP_MotorsMatrix: remove unused _num_motors
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Saves 1 byte of RAM
2014-02-15 05:27:49 +11:00
Randy Mackay
32a0992985
MatrixMotors: motor_out array made local
2014-02-15 05:27:48 +11:00
Randy Mackay
14409ee20f
Copter: disable aux channels used for motors
2014-02-07 22:04:27 +09:00
Randy Mackay
851a538692
Copter: motor matrix comment change
2013-11-27 22:33:01 +09:00
Randy Mackay
943d7374f6
Copter: slow start motors from 0 to min throttle
2013-10-20 14:51:35 +09:00
Randy Mackay
62cb5c172b
Copter Motors: add slow start feature
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Combined armed, frame orientation and slow_start into flags bitmask
Removed ability to set max throttle because it was never used
Re-ordered class variables
2013-09-12 22:27:44 +09:00
Andrew Tridgell
97b7130bb9
libraries: update license header to GPLv3
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we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
Randy Mackay
fe412437c2
Copter: add flags for upper and lower throttle limits
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Freeze desired altitude when motors hit a limit
2013-07-28 18:18:39 +09:00
Randy Mackay
f3a2db195e
Copter Motors: remove old style stability patch
2013-07-25 15:34:04 +09:00
Randy Mackay
43379f20c3
Copter Motors: replace limit bitmask with structure
2013-07-21 13:58:24 +09:00
Randy Mackay
336357fbaf
Copter: ensure _spin_when_armed is not higher than _min_throttle
2013-07-16 15:25:57 +09:00
Randy Mackay
6477c746cd
Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED
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Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
2013-07-16 12:47:59 +09:00
Jonathan Challinger
2725f219cb
Copter: Warn user with motors while copter is arming
2013-07-16 12:47:51 +09:00
Jonathan Challinger
ae2b1e3b7e
AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach
2013-07-16 12:47:49 +09:00