c1a9f75034
AP_Motors: params always use set method
3 years ago
43832649ec
AP_Motors: convert to 32 bit motor mask
3 years ago
86578d5cec
AP_Motors: add local loging of MOTB
3 years ago
d16be50e57
AP_Motors: add PWM min and max param conversion function
3 years ago
14dfac42e7
AP_Motors: remove use of external PWM min and max
3 years ago
0c1fe0b373
AP_MotorsMulticopter: add inverse thrust_to_actuator and thrust curve functions
3 years ago
513aa592e4
AP_Motors: add accessors for turtle mode
4 years ago
ef95bf088c
AP_Motors: Constrain get_throttle_hover value with allowed range
4 years ago
bdc14c60fb
AP_Motors: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
4 years ago
c504e2db04
AP_Motors: added disable_yaw_torque() method
...
this is used for tilt-vectored quadplanes to use only vectoring for
yaw control. This avoids some nasty transition issues
4 years ago
681f45c4e0
AP_MotorsMulticopter: make thrust to actuator public
4 years ago
bff978570f
AP_MotorsMulticopter: fixup check_mot_pwm_params
...
fix _pwm_max is positive check
returns true if params are valid
constify method
5 years ago
d97fdcac31
Copter: function for mot_pwm checks
5 years ago
37566d079f
AP_Motors: support direct rate outputs for multicopters
5 years ago
6e8413f122
AP_Motors: Use safety timer to enable pwm before spool up
5 years ago
1e606cdc5b
AP_Motors: make desired spool state and spool state enum-classes
...
This will help avoid getting the enumerations mixed up
6 years ago
1fa335a77b
AP_Motors: actuator_spin_up renamed to include _to_ground_idle
6 years ago
e2bd502b83
AP_Motors: minor format fixes
6 years ago
3d3f06cacb
AP_Motors: Add actuator output slew time to multicopters
...
Adds slew time limiting for throttling up and throttling down to multicopters. New parameters MOT_SLEW_UP_TIME and MOT_SLEW_DN_TIME added. 0 = disabled, no slew limiting. Valid values are 0 to 0.5 seconds. Also reworked functions related to linearization and PWM conversion to make more flexible throughout the code.
6 years ago
10572c2f9b
AP_Motors: remove unused defines from multicopter
6 years ago
ac87b3e1e5
AP_Motors: spool state moved from multi to parent
...
Also rename SPIN_WHEN_ARMED to GROUND_IDLE
6 years ago
c26948ef59
AP_Motors: multicopter apply diffential thrust in forward flight
6 years ago
f2070da335
AP_Motors: add override keyword where required
6 years ago
a5c59ce36e
AP_Motors: include boost_throttle in get_motor_mask
7 years ago
e5bd6e289e
AP_Motors: Add current limiting to 6DOF motors for Sub
7 years ago
050b8ebb32
AP_Motors: Allow specifying which battery is used for compensation
7 years ago
9e86732edc
AP_Motors: accept external battery resistance estimate
8 years ago
46d9a1dcb5
AP_Motors: fixed tricopter tail servo in fwd flight
...
in quadplane forward flight the with tilt-tricopter tail servo needs to
be at its trim position. Thanks to Marco for noticing this.
8 years ago
bdc4320fe8
AP_Motors: added MOT_BOOST_SCALE
...
this is to support boost motors for copters, such as having a petrol
motor for extra lift on a multicopter
The scaling factor allows the user to control how much of the lift is
generated from the booster and how much from the main multicopter
motors
8 years ago
2187417d74
AP_Motors: added MOT_SPOOL_TIME
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this allows for quadplanes to have faster spoolup, which can help with
transitions
8 years ago
a14265359f
Copter: reduce default MOT_THST_HOVER to 0.35
8 years ago
8e3bf71aa9
AP_Motors: allow single, tri and coax to be part of multicopter class
8 years ago
22517422f9
AP_Motors: add option to disable motor PWM output while disarmed
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
bead957a78
AP_MotorsMulticopter: limit hover throttle
8 years ago
bc7488e2f2
AP_Motors: fixed typos
9 years ago
e185bab775
AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save
9 years ago
a2ffd9ec7d
AP_MotorsMulticopter: fix comment for get_throttle_limit function
9 years ago
ef106e4b0f
AP_Motors: spool_mode moved out of flags struction
...
No functional change
9 years ago
71d1818103
AP_MotorsMulticopter: minor comment update
9 years ago
818965fa57
AP_MotorsMulticopter: output_to_motors and output_logic become protected
9 years ago
be25ac4acf
AP_MotorsMulticopter: Add current limit time constant variable
9 years ago
0ee7b00b0b
AP_MotorsMulticopter: rename _thrust_curve_min to spin_min
9 years ago
142a67bb6d
AP_MotorsMulticopter: minor comment change
9 years ago
5cace33ca5
AP_MotorsMulticopter: SPIN_MIN replaces min_throttle
9 years ago
2c811364d3
AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED
9 years ago
488f90b39d
AP_Motors: add calc_spin_up_to_pwm to reduce repeated code
9 years ago
25778a24e2
AP_MotorsMulticopter: add HOVER_LEARN param
9 years ago
4f0db2bc36
AP_Motors: learned THST_HOVER replace THR_MID
...
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1. 0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
9 years ago
5a8fc6283e
AP_Motors: replace throttle_rpy_mix with throttle_avg
...
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
9 years ago
Iampete1
Andy Piper
Sergey Bokhantsev
Patrick José Pereira
Andrew Tridgell
Randy Mackay
ashvath
Leonard Hall
Peter Barker
Matt
bnsgeyer
IamPete1
Jacob Walser
Michael du Breuil
Jonathan Challinger
Mathieu OTHACEHE