1969a84e01
Rover: fix omni tri steering and lateral factors
6 years ago
e8b5fd4c70
Rover: Fix typos
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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
6 years ago
ee15be3bb3
Rover: fix multi-motors prearm check
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
0f10d2316a
Rover: fix OmniX motor order
7 years ago
69541fc89c
AP_MotorsUGV: use wheel-rate-control for skid steering vehicles
7 years ago
d665abccde
Rover: add output tests for omni frames
7 years ago
8308646c5e
Rover: change omniplus motor order
7 years ago
430ed9bd3d
Rover: add custom config support
7 years ago
08da22c682
Rover: improved setup of output modes
7 years ago
c65405541e
Rover: balancing function call moved to manual mode update()
7 years ago
936ebbe1f3
Rover: Added BalanceBot as a rover frame
7 years ago
f0780c7bb1
AP_MotorsUGV: minor comment fix
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
5faff519c3
AP_MotorsUGV: steering limits and constraint done by each output handler
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each motor output handler (regular, skid, omni) becomes responsible for constraining the steering input (if required) and setting the limits flags
it is possible to reduce duplicate code but I think it might be more important to keep it clear which level is responsible for the limiting and constraining of steering
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
8137001a86
AP_MotorsUGV: minor comment fix
7 years ago
de4e74b910
Rover: added comments to output_omni
7 years ago
aca2c596b4
Rover: Use output_throttle for omni rover motor output
7 years ago
d7e01d83d6
Rover: added is_omni_rover function
7 years ago
341d75e0c9
AP_MotorsUGV: force throttle to zero when disarmed
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
4f6240ee8a
Rover: handle oneshot125 separately
7 years ago
4350cee7cf
Rover: added mask to set_output_mode()
7 years ago
c05d239069
Rover: remove throttle scaling dependency on throttle range
7 years ago
fa20fd695f
Rover: use throttle_min param as output deadzone
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
bee8741b60
AP_MotorsUGV: order methods in cpp file to match h
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non-functional change
7 years ago
6d472376bb
AP_MotorsUGV: do not limit just because of saturation
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steering and throttle limit flags should only be set when there is no point in the caller passing in higher values because it will not result in an increased response. In the case of saturation, higher inputs will still result in a higher response.
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
005002736b
AP_MotorsUGV: fix MOT_SLEWRATE parameter description
7 years ago
d57f307032
Rover: use cork/push wrapper
7 years ago
74d5767e25
Rover: Fix slew rate range
7 years ago
2c568f8046
Rover: minor parameter description change
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non-functional change
7 years ago
9f67d2a88d
Rover: add MOT_SKID_FRIC to up skid-steer motor out while stopped
7 years ago
2f1cc5ddfc
Rover: support brushed motor on normal rover
8 years ago
Randy Mackay
Patrick José Pereira
Peter Barker
Michael du Breuil
IamPete1
Ammarf
Andrew Tridgell
Ebin
Daniel Widmann
khancyr