3ad9b1a06b
AP_MotorsMatrix: remove incorrect throttle limit flag
10 years ago
3e960dfc3b
Motors: add get_voltage_comp_gain
...
This clarifies that lift_max is the inverse of the battery voltage gain
compensation
10 years ago
997c6f0868
Motors: move battery resistance calcs to parent
...
Moving from MotorsMatrix to parent Motors class allows these to be used
from other frame types
Also initialise battery resistance
10 years ago
529c6fed3a
Motors: move over current throttle limiting to parent
...
Moving from MotorsMatrix to parent Motors class allows this to be used
from other frame types
10 years ago
812473fd9a
MotorsMatrix: use get_hover_throttle_as_pwm
10 years ago
6b7bdf64bd
Motors: move batt voltage lift_max calcs to parent
...
Moving from MotorsMatrix to parent Motors class allows them to be used
by other frame types
Also added sanity check of batt_voltage_min
10 years ago
c549b58eb7
MotorsMatrix: remove check of throttle_curve_enabled
10 years ago
751dbb7df7
Motors: move thrust curve and volt scaling to parent
...
Moving from MotorsMatrix to Motors allows it to be used from other frames
10 years ago
ec9d7dd99e
Motors: minor comment fixes
10 years ago
1d0ee68116
Motors: over current throttle limiting
10 years ago
f6523c0997
Motors: Add THR_LOW_CMP to adjust low throttle inputs affect on attitude control
10 years ago
83e3e2fec2
Motors: thrust curve and voltage scaling for matrix supported frames
10 years ago
5b0bd49ff2
Motors: configurable yaw headroom for matrix frames
10 years ago
85fb4b122a
MotorsMatrix: _min_throttle interpreted as 0 ~ 1000 range for throttle_lower flag
...
Also trigger throttle_upper flag when throttle in reaches 1000
10 years ago
c672b3e324
Copter: Added support for V-Shaped and A-Shaped VTail Quadcopter frames
...
Signed-off-by: NullVoxPopuli <LPSego3+dev@gmail.com>
11 years ago
b665ebd7a0
MotorsMatrix: implement get_motor_mask
11 years ago
d63d82ec17
MotorMatrix: output_test for individual motors
...
Based on original work by Nils Hogberg
11 years ago
9959a44453
AP_Motors: properly constrain thr_adj_max
11 years ago
8d6eb1eceb
MotorsMatrix: motor_to_channel_map moved to progmem
11 years ago
cf1d6854b9
AP_MotorsMatrix: use ref for roll, pitch, yaw, thr channels
11 years ago
2c6470f87b
AP_MotorsMatrix: remove unused _num_motors
...
Saves 1 byte of RAM
11 years ago
32a0992985
MatrixMotors: motor_out array made local
11 years ago
14409ee20f
Copter: disable aux channels used for motors
11 years ago
851a538692
Copter: motor matrix comment change
11 years ago
943d7374f6
Copter: slow start motors from 0 to min throttle
11 years ago
62cb5c172b
Copter Motors: add slow start feature
...
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
12 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
fe412437c2
Copter: add flags for upper and lower throttle limits
...
Freeze desired altitude when motors hit a limit
12 years ago
f3a2db195e
Copter Motors: remove old style stability patch
12 years ago
43379f20c3
Copter Motors: replace limit bitmask with structure
12 years ago
336357fbaf
Copter: ensure _spin_when_armed is not higher than _min_throttle
12 years ago
6477c746cd
Copter: renamed MOT_UNSAFE_THR to MOT_SPIN_ARMED
...
Removed special purpose spin_unsafe function
renamed _throttle_unsafe to _spin_when_armed and changed to an AP_Int8
12 years ago
2725f219cb
Copter: Warn user with motors while copter is arming
12 years ago
ae2b1e3b7e
AP_Motors: Added MOT_UNSAFE_THR parameter - Throttle setting used to signal that the copter is armed or otherwise unsafe to approach
12 years ago
073e2c9f15
ACMotors: bug fix to yaw limit
12 years ago
76028fc9d3
Copter Motors: use _min_throttle in output_test
12 years ago
81f7ae9108
AP_Motors: fixed indent-tabs-mode
12 years ago
ec7ee47099
Copter: scaling stability patch
12 years ago
6a65a32de2
CopterMotors: add formatting info to top of files
12 years ago
ad00e0ee1e
ACMotors: make test_order uint_8
12 years ago
cb5f8826f8
Copter: Leonard's fix for trapezoidal frame
...
We need to allow yaw_factors to be floats in the add_motor method
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
3aca61cefb
AP_Motors: remove unnecessary opposite_motor array (no longer needed with new stability patch)
12 years ago
c6fe5e5340
AP_Motors: ported to AP_HAL
12 years ago
c0cf2d6f38
AP_Motors: added reached_limit method which returns bit mask indicating which control inputs could not be achieved
13 years ago
c320938ff2
AP_MotorsMatrix: modified stability patch to sacrifice yaw first if necessary to ensure stability.
...
Resolves climb-on-yaw problem.
13 years ago
9e32d45d7b
Change to the "Stability Patch" in Motors_Matrix in order to make it cover both the upper throttle range and lower, and also to cause it to raise/lower all motors when a single motor goes out of ranges.
13 years ago
Leonard Hall
Randy Mackay
NullVoxPopuli
Jonathan Challinger
Andrew Tridgell
James Bielman
Pat Hickey
Robert Lefebvre