35928a8d05
AP_Motors: fix regression for tiltrotors
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
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
790f609373
AP_Motors: document Hover_learn as copter only
6 years ago
a5699c7d5a
AP_Motors: boost-scale param desc update
6 years ago
db9ce0064b
AP_Motors: esc calibration outputs to throttleRight and throttleLeft
6 years ago
f71013928a
AP_Motors: force PWM range for DShot to 1000 to 2000
6 years ago
2f87d8808f
AP_Motors: handle boost in spool up and down the same way
6 years ago
4774cb8daf
AP_Motors: improved motor loss redundancy
...
This detects a failed motor on copters with at least 6 motors
and recalculates the mixer to compensate
6 years ago
a5c59ce36e
AP_Motors: include boost_throttle in get_motor_mask
7 years ago
937d8dac97
AP_Motors: remove unneeded initialisations
7 years ago
bd9df6d0ec
AP_Motors: added DShot to parameter docs
7 years ago
050b8ebb32
AP_Motors: Allow specifying which battery is used for compensation
7 years ago
98e327640d
AP_Motors: Use battery singleton
7 years ago
e340fac2e0
AP_Motors: avoid float exception for small expo
...
very small values of the thrust expo cause a floating point
exception. As zero is a documented value meaning linear we need to
handle this.
7 years ago
d28182435e
AP_Motors: allow for negative thrust expo
...
This allows for motors with a thrust curve that decreases with demand.
7 years ago
abd0831239
AP_Motors: changed BRUSHED16kHz to BRUSHED
8 years ago
9e86732edc
AP_Motors: accept external battery resistance estimate
8 years ago
1b062d9d29
AP_Motors: Improve the PWM parameters descriptions
8 years ago
2e07f8824e
AP_Motors: reserve parameter index 38
8 years ago
9d9ebc91cd
AP_Motors: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
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
2c4975ba31
AP_Motors: removed cork/push from AP_Motors
...
should be done by vehicle code if needed, so that AUX servos are sent
at the same time
8 years ago
507b461388
AP_Motors: Initialize throttle range directly
...
This was causing SITL to hang at boot when motors object is statically allocated.
8 years ago
ade1876318
AP_Motors: tie esc scaling with set_throttle_range()
...
We need to update the esc scaling from inside the Motors library, that
has access to the MOT_PWM_[MIN|MAX] values. Otherwise even though the
AP_Motors library honors the value for calculations, the RCOutput
drivers that need the scaling to set the real HW scaling will not work.
Right now it scales the value using the throttle_channel's min/max, even
though AP_Motors may be passing values in other range.
8 years ago
108cbe1dab
AP_Motors: mark tricopter yaw as tricopter only
8 years ago
2187417d74
AP_Motors: added MOT_SPOOL_TIME
...
this allows for quadplanes to have faster spoolup, which can help with
transitions
8 years ago
8e3bf71aa9
AP_Motors: allow single, tri and coax to be part of multicopter class
8 years ago
a09d4db4fd
AP_MotorsMulticopter: fix battery resistance calculation
8 years ago
8468add63e
AP_Motors: mark PWM_TYPE as reboot required
8 years ago
ce517384e1
AP_Motors: support MODE_PWM_BRUSHED16KHZ
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
0a56d69d54
AP_MotorsMulticopter: Use same throttle value used by motors
8 years ago
b63666d188
AP_Motors: increase MOT_THST_HOVER parameter description range
...
No functional change
9 years ago
4858afae6c
AP_Motors: param description update that MOT_SPIN_MIN should be higher than MOT_SPIN_ARM
9 years ago
ad697243b3
AP_MotorsMulticopter: initialise some members
...
This resolves some Covarity warnings at the cost of a small amount of flash
9 years ago
e185bab775
AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save
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
02881b59ff
AP_MotorsMulti: float constants
9 years ago
bee6c29b89
AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN
9 years ago
be25ac4acf
AP_MotorsMulticopter: Add current limit time constant variable
9 years ago
7e0e0ca874
AP_MotorsMulticopter: battery voltage compensation improvements
9 years ago
0ee7b00b0b
AP_MotorsMulticopter: rename _thrust_curve_min to spin_min
9 years ago
5cace33ca5
AP_MotorsMulticopter: SPIN_MIN replaces min_throttle
9 years ago
Mark Whitehorn
Randy Mackay
Matt
bnsgeyer
IamPete1
expntly
Andrew Tridgell
Leonard Hall
Peter Barker
Michael du Breuil
Dr.-Ing. Amilcar Do Carmo Lucas
Jonathan Challinger
Jacob Walser
Lucas De Marchi
Mathieu OTHACEHE