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93 Commits

Author SHA1 Message Date
Randy Mackay e3ff4ed9c4 MotorsHeli: integrate RotorControlState 2015-08-31 11:43:59 +09:00
Robert Lefebvre bde43412d8 AP_MotorsHeli: Fix RSC Mode 3 2015-08-31 11:43:55 +09:00
Robert Lefebvre 28318c4116 AP_MotorsHeli: Move Output functions into parent class 2015-08-31 11:43:50 +09:00
Robert Lefebvre 84102c3e3f AP_MotorsHeli: Rework how servo setup is done. 2015-08-31 11:43:49 +09:00
Robert Lefebvre 345663f705 AP_MotorsHeli: Simplify servo init/reset 2015-08-31 11:43:48 +09:00
Robert Lefebvre b11600aebe AP_MotorsHeli: Move set_delta_phase_angle into _Single class 2015-08-31 11:43:47 +09:00
Robert Lefebvre 3756c6b3f3 AP_MotorsHeli: Create RSC Throttle Curve mode for controlling gas engines. 2015-08-31 11:43:45 +09:00
Robert Lefebvre f853979816 AP_MotorsHeli: run RSC Control function in Output Min function 
Move Output_Min() function into Heli_Single class as it will eventually be overloaded by other helicopter class types.
 2015-08-31 11:43:44 +09:00
Robert Lefebvre 315f0408ae AP_MotorsHeli: RSC controller to use speed ramp as simple float scalar 2015-08-31 11:27:52 +09:00
Robert Lefebvre cefa0c28a6 AP_MotorsHeli: RSC Mode 0 no longer a valid mode 2015-08-31 11:27:48 +09:00
Robert Lefebvre 981c96d8bc AP_MotorsHeli: Add more parameter checks 2015-08-31 11:27:47 +09:00
Robert Lefebvre 214d60abb9 AP_MotorsHeli: Create RSC_IDLE param 2015-08-31 11:27:41 +09:00
Robert Lefebvre 10b0be9e75 AP_MotorsHeli: Fully detail tradheli output functions and move manual servo handling 2015-08-31 11:27:39 +09:00
Fredrik Hedberg e6119cf51f AP_Motors: Fix param indices in AP_MotorsHeli. 2015-08-31 11:27:36 +09:00
Fredrik Hedberg e6957df54a AP_Motors: Fix param range comment in AP_MotorsHeli. 2015-08-31 11:27:33 +09:00
Fredrik Hedberg 97e09fa9b0 AP_Motors: Move traditional helicopter controls into AP_MotorsHeli_Single. 
Original commit by fhedberg, had to fix merge conflicts and now it appears I did the commit?
 2015-08-31 11:27:31 +09:00
Fredrik Hedberg af69a20ba5 AP_Motors: Break out yaw output in AP_MotorsHeli. 2015-08-31 11:27:30 +09:00
Fredrik Hedberg feb32f40ed AP_Motors: Break out servo init and reset in AP_MotorsHeli. 2015-08-31 11:27:29 +09:00
Fredrik Hedberg ae9a16dc27 AP_Motors: Move rotor speed control into AP_MotorsHeli_RSC. 2015-08-31 11:27:28 +09:00
Gustavo Jose de Sousa 1e619c6c59 AP_Motors: standardize inclusion of libaries headers 
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
Robert Lefebvre abb6eba291 AP_MotorsHeli: Change allow_arming check to use _rotor_speed_estimate 
In future, this will be used to check actual rotor speed (measured) if available, to prevent trying to arm with the rotor spinning.
 2015-07-21 16:25:21 +09:00
Robert Lefebvre 992c9c75bb AP_MotorsHeli: Create parameter_check method. 2015-07-21 16:25:04 +09:00
Robert Lefebvre e2fe640e6c Copter: Clean up helicopter allow_arming() function 2015-07-21 16:24:58 +09:00
Robert Lefebvre 61d6c5aa1d AP_Motors: Creation of AP_Motors_Multirotor class 2015-07-21 16:24:38 +09:00
Robert Lefebvre 11214b3414 AP_Motors: move constraints to set_throttle 2015-06-22 13:52:59 +09:00
Robert Lefebvre 0c92565d23 AP_MotorsHeli: add Critical Rotor Speed param, use to switch off runup_complete 2015-06-19 15:10:53 +09:00
Robert Lefebvre 8b917b82ee AP_MotorsHeli: Simplify set_desired_rotor_speed function definition 2015-06-19 15:10:50 +09:00
Robert Lefebvre 79e8c8f7f7 AP_MotorsHeli: whitespace fixes 2015-06-19 15:10:47 +09:00
Robert Lefebvre d24664ccf9 AP_MotorsHeli: Semantic change. Motor Runup to Rotor Runup 2015-05-29 17:46:18 +09:00
Robert Lefebvre 65ca09600c AP_Motors: Heli eliminate _dt member and fix rsc_runup calculation 2015-05-29 17:46:09 +09:00
Randy Mackay 1a1fa7ca4b AP_MotorsHeli: add comment to avoid param conflict 2015-05-25 22:13:49 +09:00
Robert Lefebvre b8181b6b90 AP_Motors: RCMAP fix 
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
Robert Lefebvre 73bafa131e AP_MotorsHeli: Overload output() 
To protect it from future interference from Multirotor code.
 2015-05-22 09:38:23 +09:00
Robert Lefebvre d3ce68a8ca AP_MotorsHeli: Overload update_throttle_filter() 
Do not reset filter to zero when disarmed to allow collective pitch servo movement.
 2015-05-22 09:38:20 +09:00
Randy Mackay 3d9a6a69e2 MotorsHeli: COLYAW to float 2015-05-08 14:14:36 +09:00
Randy Mackay edfa206bb8 Motors_Heli: nest heli params 2015-05-08 14:14:35 +09:00
Robert Lefebvre 1a482de5e2 AP_MotorsHeli: Overload output_armed_zero_throttle 2015-05-01 14:30:25 +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
Randy Mackay 72c3e9cc72 TradHeli: implement get_motor_mask 2014-07-26 16:33:20 +09:00
Robert Lefebvre 92bdf24dba AP_MotorsHeli: Add To-Do. Swash setup hasn't seemed to work right for a while, this might be why. Confirm later. 2014-07-13 17:11:22 +09:00
Robert Lefebvre 789b1018fc AP_MotorsHeli: Change set_delta_phase_angle so that it forces recalculation of collective factors. 2014-07-08 20:18:39 +09:00
Robert Lefebvre fd542e99d8 AP_MotorsHeli: Create Delta Phase Angle variable and method to set. Will be used by CCComp code. 2014-07-08 20:18:34 +09:00
Robert Lefebvre 0680b88abd AP_MotorsHeli: Add main loop rate time variable and method. Change RSC increment calc to account for loop rate time. 2014-07-08 20:18:20 +09:00
Robert Lefebvre 979abb9fbd TradHeli: Cause DDVP Tail Motor to stop immediately when Ch8 is 0. 2014-07-08 20:18:02 +09:00
Randy Mackay 3610cfe24c TradHeli: output_test for individual motors 
Based on original work by Nils Hogberg
 2014-04-29 11:41:13 +09:00
Randy Mackay 134289af38 TradHeli: motor_to_channel_map moved to progmem 2014-02-15 05:27:50 +11:00
Randy Mackay 18d3907928 TradHeli: use refs for all RC_Channels 2014-02-15 05:27:49 +11:00
Randy Mackay 80ec61f217 TradHeli: make accessor methods const 2014-02-15 05:27:43 +11:00
Randy Mackay 1426078cdb TradHeli: disable aux channels 7 and 8 2014-02-07 22:04:23 +09:00
Robert Lefebvre d441354961 TradHeli: Minor change to two param defaults 
Also one param name in the code clarified.
 2014-01-10 10:52:17 +09:00