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
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CID: 325623
6 years ago
7163839117
AP_MotorsUGV: remove arg from output_mainsail
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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
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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
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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
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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
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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
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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
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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
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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
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non-functional change
8 years ago
a5783939ef
AP_MotorsUGV: add limit flags
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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
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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
f8a564f283
Rover: rename BRUSHEDPLUS to BRUSHEDBIPOLAR
8 years ago
1f0c985dec
Rover: add setup_servo_output to allow ouput reconfiguration
8 years ago
29c59644b7
AP_MotorsUGV: add BrushedPlus motor type
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BrushedPlus are brushed motors with separate throttle and steering pwm
inputs
8 years ago
76c9d3982a
AP_MotorsUGV: motors lib for Rover
8 years ago
Peter Hall
Randy Mackay
Michael du Breuil
Ammarf
Peter Barker
Daniel Widmann
khancyr