117b67c9e2
AR_MotorsUGV: convert to 32 bit motor mask
3 years ago
df91effa4e
AR_Motors: stop libraries including AP_Logger.h in .h files
...
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h
This necessitated moving The PID_Info structure out of AP_Logger's
namespace. This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!
There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
3 years ago
27a6cdd989
AR_Motors: minor format fix
3 years ago
b472300191
AP_MotorsUGV: make pwm_type private and add is_digital_pwm_type method
3 years ago
e75d3b68e6
AP_Motors: move AP_MotorsUGV to new AR_Motors directory
4 years ago
96d0e8cf3f
AP_Motors: add comments to AP_MotorsUGV
4 years ago
7c213a8bbf
AP_Motors: move AP_MotorsUGV here
...
add singleton and motor_mask to AP_MotorsUGV
4 years ago
f5491433f6
Rover: direct-rotation sail mast control
4 years ago
8a6453b5d2
Rover: improved vectored thrust support
...
Co-authored-by: srmainwaring <rhys.mainwaring@me.com>
4 years ago
9248272baa
Rover: walking_height input sent to motors
4 years ago
485eb3fa88
Rover: roll and pitch input sent to motors
...
added get desired roll and pitch
Motors library adds set and get methods for roll and pitch
added roll and pitch to get_control_output
get_control_output returns roll and pitch values
4 years ago
0694660094
Rover: add get_lateral accessor
5 years ago
98b953eb80
Rover: MOT_STR_THR_MIX adjusts steering vs throttle priority
5 years ago
300a118852
Rover: astyle, reformatted few files in Rover Dir
5 years ago
d31700c310
Rover: rename directory from APMrover2
5 years ago
f75aee223e
Rover: AP_MotorsUGV: add wingsail output
5 years ago
e2ed76886c
Rover: AP_MotorsUGV make has sail protected
6 years ago
88e8a849bd
Rover: make omni setup protected in AP_MotorsUGV
6 years ago
bdf6c09a76
Rover: rename custom to omni in AP_MotorsUGV
6 years ago
8e96eb969f
Rover: support DShot ESCs
6 years ago
65af2bc56b
Rover: Fix sail motor test not being reachable
...
CID: 325623
6 years ago
7163839117
AP_MotorsUGV: remove arg from output_mainsail
...
no need to pass in argument which is always a local variable
6 years ago
a59b83af9a
AP_MotorsUGV: add mainsail to servo test
6 years ago
fa0fc5eade
AP_MotorsUGV: add mailsail support for sailboats
6 years ago
69541fc89c
AP_MotorsUGV: use wheel-rate-control for skid steering vehicles
7 years ago
430ed9bd3d
Rover: add custom config support
7 years ago
1c0d9c7512
AP_MotorsUGV: MOT_SPD_SCA_BASE param for min speed scaling
...
This replaces the hardcoded 1m/s start point for speed scaling with a configurable value
7 years ago
cf1f2f9aeb
Rover: move motors_active to be motors.active
...
This will help when we come to subclass the Motors library.
7 years ago
26c25daa36
Rover: add support for lateral control input
7 years ago
d018a9334e
AP_MotorsUGV: add get_slew_limited_throttle
...
required by vehicle code to properly handle steering direction in cases where the driver's input throttle has the opposite sign from output throttle because throttle is being slew limited
7 years ago
3db2cc700e
AP_MotorsUGV: positive steering always rotates vehicle right
...
also scale steering down with increased speed for regular rovers
add support for disabling scaling of steering
7 years ago
d7e01d83d6
Rover: added is_omni_rover function
7 years ago
c69f7bb1d0
AP_MotorsUGV: consolidate parameter sanity checks
7 years ago
38b79cf0bc
AP_MotorsUGV: support vectored thrust
...
steering scaled down as throttle increases
7 years ago
ebe3ec88a7
AP_MotorsUGV: pre arm check if regular and skid steering configured
7 years ago
97e87e2150
AP_MotorsUGV: skid steering always uses full range
...
Allows skid friction to be removed
7 years ago
87658e6a07
AP_MotorsUGV: add MOT_THST_EXPO to scale output to motors
7 years ago
8f1857759f
AP_MotorsUGV: allow larger MOT_SLEWRATE values
7 years ago
78275ec4a1
AP_MotorsUGV: throttle slew updates motor limit flags
...
this ensure I-term build-up doesn't happen when the slew
causes the throttle to react slowly
7 years ago
6d805b64b6
AP_MotorsUGV: remove access to enable/disable throttle slewing
7 years ago
9f67d2a88d
Rover: add MOT_SKID_FRIC to up skid-steer motor out while stopped
7 years ago
3f1271214e
Rover: rename MotorsUGV pwm type to brush-with-relay
8 years ago
c0fe1b7ec8
AP_MotorsUGV: minor comment fix
8 years ago
c8eceeabb6
AP_MotorsUGV: add THR_MIN, THR_MAX parameters
8 years ago
c61f965828
AP_MotorsUGV: re-order implementation to match declaration
...
non-functional change
8 years ago
a5783939ef
AP_MotorsUGV: add limit flags
...
These flags become true when the steering servo or motors hit their
limits. used to stop I-term build-up in higher level controllers.
8 years ago
e5b746c7dd
AP_MotorsUGV: fix motor test sequence
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motor test sequence starts from 1
8 years ago
7bfb79a4b7
AP_MotorsUGV: add motor_output_test_pwm
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this allows the ground station to test a motor by requesting a specific pwm value
8 years ago
2cd3dd5cba
AP_MotorsUGV: add motor output test
8 years ago
8421575f05
AP_MotorsUGV: add output_throttle to handle scaling and relay
...
this function hides the difference in scaling between the regular throttle
(-100 to +100) and the throttleLeft and throttleRight (-1000 to +1000)
Also handles the setting of the relay for brushed-with-relay motors
8 years ago
Iampete1
Peter Barker
Randy Mackay
Andy Piper
Ari Krupnik
ashvath100
jbteja
Peter Hall
Michael du Breuil
Ammarf
Daniel Widmann
khancyr