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15632 commits 10 branches 287 tags 527 MiB
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386 commits

Author SHA1 Message Date
borisbstyle
5706f163aa remove unnecessary argument 2016-02-20 20:26:57 +01:00
borisbstyle
06942f574e Cycletime Jitter buffer added // Removed reservations in scheduler 2016-02-20 20:18:51 +01:00
borisbstyle
293820f567 Move acroplus to mixer 2016-02-19 21:00:16 +01:00
borisbstyle
7fd88f060d Fixed point math Implementation instead of floats 2016-02-19 01:03:24 +01:00
borisbstyle
3f261970c5 Remove unnecessary re-calculations 2016-02-10 09:48:13 +01:00
borisbstyle
83d8a8441c Remove lowpass.c // replace by pt1 
unittests fix
 2016-02-10 09:31:55 +01:00
borisbstyle
a88fb685fa 3D prevent negative arming // Reverse logic 2016-02-09 09:48:37 +01:00
borisbstyle
f5375291ca Cleanup 3D code 2016-02-09 01:33:50 +01:00
borisbstyle
1d60ef46ba Fixed throttle problem in 3D // Tested 2016-02-08 22:58:09 +01:00
borisbstyle
604896a3fc Fix 3D inversed throttle 2016-02-08 09:18:41 +01:00
borisbstyle
beaca5ba36 Disable saturation limit for non-airmode 2016-02-08 01:28:50 +01:00
borisbstyle
9b826f4373 Configurable saturation limit for Airmode 2016-02-07 23:50:46 +01:00
borisbstyle
9a5a73ade9 Fix compile error 2016-02-06 23:01:05 +01:00
borisbstyle
3b84cddc3d Fixes and cleanups to the new Airmode code 2016-02-06 22:13:44 +01:00
borisbstyle
f1bb13d364 VBAT PID compensation Initial Implementation // Untested 2016-02-06 13:42:52 +01:00
borisbstyle
fda0794441 Airmode rework // Fix 3D from negative to positive // cleanup 2016-02-05 22:04:39 +01:00
borisbstyle
4b6f276d2b Set mid_rc for throttle checks in 3D 2016-02-04 12:01:51 +01:00
borisbstyle
212017654b Airmode overrules motor stop 2016-02-04 11:33:54 +01:00
borisbstyle
5174e96549 Revert "Replace old lowpass with BiQuad for Vbat and Servo" 
This reverts commit 27772ba56a.
 2016-02-04 00:45:09 +01:00
borisbstyle
27772ba56a Replace old lowpass with BiQuad for Vbat and Servo 2016-02-03 14:33:43 +01:00
borisbstyle
a1ebe6fd4f Remove old mixer // Separate Acro Plus from Airmode // Fix MOTOLAB merge issues 2016-02-03 00:58:38 +01:00
borisbstyle
06b3f625d1 Airmode Saturation fix // Needed for some setups 2016-02-02 22:48:52 +01:00
borisbstyle
55cf3913a0 3D Airmode enhancements // Iterm Shrinking replaced to limiting 2016-01-25 12:08:33 +01:00
borisbstyle
b5dcbbed25 Airmode mixer rework // Fix stopping motors caused by 3D feature 2016-01-19 21:50:42 +01:00
borisbstyle
782482bf76 Activate Air mode in Neutral State for 3D feature 
Fix init
 2016-01-19 14:17:36 +01:00
borisbstyle
493282a274 Fix 3D Airmode Bugs 2016-01-18 23:51:35 +01:00
borisbstyle
2930260f40 Multiple 3D fixes. Motor stop / PID resolution / failsafe 2016-01-18 16:21:17 +01:00
borisbstyle
2f6eeed6f5 Fix Motor stop and 3D reverse 2016-01-18 13:13:30 +01:00
borisbstyle
f69943d095 Enable Airmode In 3D feature // Separate Mixers 2016-01-18 11:12:13 +01:00
borisbstyle
10809ba6b6 Add Mixer quad1234 2016-01-13 23:08:14 +01:00
borisbstyle
83e932d3a3 Rework maxing out motors 2015-12-16 17:27:36 +01:00
borisbstyle
fdd984bc32 Increase Allowed Error to the mixer // Fix for uncontrollable roll when one motor is cogging 2015-12-15 23:56:21 +01:00
borisbstyle
6d51ab6e53 Better Clearing when toggling inbetween modes 2015-12-09 23:16:22 +01:00
borisbstyle
9ec26626b7 Accumulation Prevention in Saturation for AIR Mode // Refactoring 
Adjust shrink threshold for errorRatio
 2015-12-09 13:33:36 +01:00
borisbstyle
763ff23ede Further AIR MODE enhancements // Motor stop overules AIR MODE low throttle 
reset iterm for motor stop

fix luxfloat
 2015-12-07 10:16:32 +01:00
borisbstyle
400fe14e30 AIR MODE Optimalisations // Disable retarded arm 
enable level modes
 2015-12-06 23:58:18 +01:00
borisbstyle
83d186057f AIR MODE implementation 2015-12-06 02:19:35 +01:00
borisbstyle
eafa631a32 IDLE UP switch // Remove pid_at_min_throttle 2015-12-04 16:17:44 +01:00
Konstantin Sharlaimov (DigitalEntity)
5df8ca926c Quaternion-based DCM IMU (original code my S.Madgwick) 
Restore binaries from merge
 2015-10-22 10:45:36 +02:00
Dominic Clifton
8402f4512a Merge pull request #1276 from sherlockflight/3d-pid-at-min-throttle 
Add support for pid_at_min_throttle = 0 for 3D flight
 2015-10-12 20:27:53 +01:00
Dominic Clifton
28aad588cb Fix vtail mixer defaults. Closes #988 
Previously the vtail mixer was a copy of the atail mixer which was
incorrect.

The new defaults cater for frames like the Armattan Morphling Vtail.
 2015-09-05 18:03:02 +01:00
Nicholas Sherlock
be815ec070 Support pid_at_min_throttle = 0 for 3D flight 2015-09-01 01:46:44 +12:00
Dominic Clifton
5be2276b6b First cut of custom motor and servo mixer test. 
Note: The test is rather heavyweight, more like an integration test than
a unit test, but will allow for the underlying code to be refactored.
 2015-07-17 01:05:14 -07:00
Dominic Clifton
cc06113c8f Rename yaw_direction to yaw_motor_direction to avoid confusion 
between `yaw_control_direction` and yaw servo configuration.
 2015-07-13 01:54:45 +01:00
Dominic Clifton
9d4dbb4871 Merge branch 'octomixer' of https://github.com/iforce2d/cleanflight into iforce2d-octomixer 
Conflicts:
	src/main/config/config.c
 2015-07-10 00:47:22 +01:00
Dominic Clifton
783a4c4bfa Merge pull request #1066 from cleanflight/custom-servo-mixers 
Custom servo mixers
 2015-07-09 23:48:53 +01:00
Dominic Clifton
eb53855cd1 Fix CJMCU build - caused by a missed rename of mixerResetMotors to 
mixerResetDisarmedMotors
 2015-07-09 22:52:04 +01:00
Dominic Clifton
c9f5ca3faf Deleted code specific to fixed wing that set motors to mincommand when 
disarmed.

Ensure that servo mixes that use calculated throttle output (motor 0)
adhere to the armed/disarmed state, this is achieved by ensuring that
motor outputs, including the effects of MOTOR_STOP are calculated BEFORE
using motor 0 as an input source for the servo mixer.
 2015-07-09 20:23:37 +01:00
Dominic Clifton
84773a8c91 Fix vectored thrust code, flying wing != vectored thrust. 
vectored thrust is too generic a term.  examples:
1) fixed wing with ailerons and fixed motors on each wing, yaw the plane
by changing the speeds of the motors 
2) fixed wing with ailerons and single motor at rear, yaw the plane by
pivoting the motor left or right

Both of the above scenarios are possible using MIXER_CUSTOM_AIRPLANE.

In baseflight vectored thrust was added in:
e3585df3a3 (diff-2c11cf77e56a7a330caeccadfc1d8bcdR448)

then broken in:
ce0300a344 (diff-2c11cf77e56a7a330caeccadfc1d8bcdL449)

see:
https://github.com/multiwii/baseflight/blob/master/src/mixer.c#L153
https://github.com/multiwii/baseflight/blob/master/src/mixer.c#L328-L329
https://github.com/multiwii/baseflight/blob/master/src/mixer.c#L546-L555
 2015-07-09 19:53:37 +01:00
Dominic Clifton
c88a33495f Fix incorrect default flying wing servo mixer. 
Baseflight code made both surfaces respond in the SAME direction when
using pitch OR roll.

Behaviour should be: 
apply pitch causes the control surfaces move in the SAME direction.
apply roll causes the control surfaces should move in the OPPOSITE
direction.
 2015-07-09 18:10:52 +01:00