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
...
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
65eb9ceb32
AP_Motors: expose min/max pwm
9 years ago
8d1f50e78f
AP_Motors: rename get_pwm_min to get_pwm_output_min
9 years ago
ff93524ba4
AP_Motors: rename MOT_THST_MAX to MOT_SPIN_MAX
...
Also renamed:
MOT_THST_BAT_MIN,MAX to MOT_BAT_VOLT_MIN,MAX
MOT_CURR_MAX to MOT_BAT_CURR_MAX
9 years ago
f1cbdbe914
AP_Motors: update some comments
9 years ago
49b14b3cb6
AP_Motors: add PWM_MIN, MAX
...
These parameters allow the motor PWM output range to be different from receiver's throttle input range
Also renamed throttle_pass_through to set_throttle_passthrough_for_esc_calibration and change the method's input to the 0 to 1 range instead of direct PWM value
9 years ago
60b3625950
AP_Motors: added hook for vehicle based thrust compensation
...
allow vehicle code to compensate for thrust effectiveness changes due
to properties outside the scope of AP_Motors. This allows for
compensation in tiltrotors and tiltwings.
9 years ago
37d6b5fdaf
AP_Motors: added output_motor_mask()
...
this will be used for tiltrotors in forward flight
9 years ago
f6eabfdab2
AP_MotorsMulticopter: formatting fixes
9 years ago
6807b961e2
AP_MotorsMulticopter: protect against div-by-zero if MOT_SPIN_ARMED is zero
9 years ago
49562c5ca3
AP_MotorsMulticopter: reduce num bits used for spool-up-down-mode
9 years ago
b4b33db79b
AP_MotorsMulticopter: promote output_min from Matrix class
9 years ago
c41a5dc3bd
AP_MotorsMulticopter: remove slow_start
...
This has been replaced with the spool logic feature
9 years ago
68a6408a23
AP_MotorsMulticopter: remove set_radio_passthrough
...
This has been moved up to the AP_Motors class
9 years ago
93d1f1969c
AP_MotorsMulticopter: remove set_desired_spool_state
...
This is being moved to AP_Motors
9 years ago
4dd4d38b9b
AP_MotorsMulticopter: fix output_to_motors definition
9 years ago
Peter Barker
Randy Mackay
Matt
bnsgeyer
IamPete1
Jacob Walser
Michael du Breuil
Leonard Hall
Andrew Tridgell
Jonathan Challinger
Mathieu OTHACEHE