65ca09600c
AP_Motors: Heli eliminate _dt member and fix rsc_runup calculation
10 years ago
1a1fa7ca4b
AP_MotorsHeli: add comment to avoid param conflict
10 years ago
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.
10 years ago
73bafa131e
AP_MotorsHeli: Overload output()
...
To protect it from future interference from Multirotor code.
10 years ago
d3ce68a8ca
AP_MotorsHeli: Overload update_throttle_filter()
...
Do not reset filter to zero when disarmed to allow collective pitch servo movement.
10 years ago
3d9a6a69e2
MotorsHeli: COLYAW to float
10 years ago
edfa206bb8
Motors_Heli: nest heli params
10 years ago
1a482de5e2
AP_MotorsHeli: Overload output_armed_zero_throttle
10 years ago
8e442675a7
AP_Motors: introduce set_stabilize(bool), specifies whether torque demands should be output
10 years ago
72c3e9cc72
TradHeli: implement get_motor_mask
11 years ago
92bdf24dba
AP_MotorsHeli: Add To-Do. Swash setup hasn't seemed to work right for a while, this might be why. Confirm later.
11 years ago
789b1018fc
AP_MotorsHeli: Change set_delta_phase_angle so that it forces recalculation of collective factors.
11 years ago
fd542e99d8
AP_MotorsHeli: Create Delta Phase Angle variable and method to set. Will be used by CCComp code.
11 years ago
0680b88abd
AP_MotorsHeli: Add main loop rate time variable and method. Change RSC increment calc to account for loop rate time.
11 years ago
979abb9fbd
TradHeli: Cause DDVP Tail Motor to stop immediately when Ch8 is 0.
11 years ago
3610cfe24c
TradHeli: output_test for individual motors
...
Based on original work by Nils Hogberg
11 years ago
134289af38
TradHeli: motor_to_channel_map moved to progmem
11 years ago
18d3907928
TradHeli: use refs for all RC_Channels
11 years ago
80ec61f217
TradHeli: make accessor methods const
11 years ago
1426078cdb
TradHeli: disable aux channels 7 and 8
11 years ago
d441354961
TradHeli: Minor change to two param defaults
...
Also one param name in the code clarified.
11 years ago
782ce54a5c
TradHeli: Fix for yaw offset switching. Yaw Offset should switch on and off with the main motor, not waiting until the rotor has reached full speed.
11 years ago
4148c4e024
TradHeli: bug fix for main rotor ramp up
...
The main rotor ramp was being held back by the rotor speed estimate
instead of being allowed to jump up to the estimate if it's lower.
Also fixed some incorrect indentation
11 years ago
f9e19b8006
TradHeli: remove use of motor_out array
...
No longer required for logging purposes as we have RCOU
11 years ago
afbb199544
TradHeli: remove slash from parameter description
...
This may fix the issue in which the parameter descriptions are appearing
twice on the arducopter-parameters wiki page
11 years ago
c9c803ffd4
TradHeli: move STAB_COL_MIN to main parameter list
11 years ago
b71c6bfd76
TradHeli: add RSC_RUNUP_TIME param and rotor speed estimate
11 years ago
bc4dba0eea
TradHeli: ext gyro gain range 0 to 1000
11 years ago
197fc67897
TradHeli: move pilot desired rotor speed to heli.pde
11 years ago
942c14258b
TradHeli: ramp up changes
...
Rewrote tail and main rotor ramp up methods
Moved direct drive ESC speed control into rsc_control method
Pass in ch7 servo as servo_aux to TradHeli motors object constructor
split CH7_SETPOINT parameter into GYR_GAIN and DIRECTDRIVE parameters
replaced RSC_RATE with uint8_t RSC_RAMP_TIME parameter
rename GOV_SETPOINT parameter to RSC_SETPOINT
RSC_MODE parameter description updated to indicate it controls the
source of main rotor speed
11 years ago
9ac051c56d
TradHeli: BugFix to ColYaw
...
Credit to Jolyon Saunders for finding this bug.
11 years ago
4426060ccc
TradHeli: COLYAW not applied when the motor is not running
11 years ago
9ae66c1773
TradHeli: add support for drive tail rotors
...
Repurposed external gyro and made it multi-funcitonal.
required PWM on Ch8 to start the motor in RSC Mode moved up from 100 to 400. This is to facilitate two-stage switching of the motors with PWM>100 starting the tail motor, and PWM>400 starting the main motor.
Additional amendments by Randy
11 years ago
7ae0d3320b
TradHeli: add landing collective min
11 years ago
1f65bb537f
TradHeli: add get_pilot_desired_collective
...
Perhaps this should be moved to the main code's heli.pde sketch
11 years ago
13a412ee21
TradHeli: make parameters and variables private
...
add accessors for variables and params required in main code
replace tabs with spaces
11 years ago
2cc48ffcd6
Copter: formatting and param description changes
11 years ago
5d946be77c
TradHeli: Change user description for COLYAW parameter.
11 years ago
97b7130bb9
libraries: update license header to GPLv3
...
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
12 years ago
c812d07993
TradHeli: Creating motor_runup_complete bool which is to confirm that the heli motor is running. This will be used for advanced features in the future.
12 years ago
957cb094ea
TradHeli: Remove unused RSC Mode 3.
12 years ago
81f7ae9108
AP_Motors: fixed indent-tabs-mode
12 years ago
6a65a32de2
CopterMotors: add formatting info to top of files
12 years ago
2c05030fb1
AP_Motors: use the right constrain() function
12 years ago
a656b619f5
AP_Motors: remove auto_armed
...
redundant flag that was already held in the main code which is where it
belongs.
12 years ago
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
12 years ago
03b26c7d6d
AP_Motors: fixed setup of ESC update speeds
12 years ago
c6fe5e5340
AP_Motors: ported to AP_HAL
12 years ago
0eb57bf93d
ACM: TradHeli
...
Fix to make update_throttle_cruise work with stab_throttle scaling.
12 years ago
a5c4e65cdf
ACM: TradHeli
...
Fix for Rotor Speed Controller to switch on/off with Ch8 as opposed to the old way (throttle).
12 years ago
Robert Lefebvre
Randy Mackay
Jonathan Challinger
Andrew Tridgell
James Bielman
Pat Hickey