aa8d594e9b
Add heli servo trim
2022-09-07 08:00:27 +02:00
115cf4d572
Helicopter: More intuitive yaw direction configuration for the common cases
2022-09-07 08:00:27 +02:00
7e75b497ae
helicopter: add switch to engage main motor
...
For helicopters it's useful (e.g. during bringup) to be able to disable
the main rotor while the tail is still controlled to safely land.
2022-09-07 08:00:26 +02:00
f32d931117
helicopter: add yaw sign parameter & expose settings in UI
2022-09-07 08:00:26 +02:00
349f152601
Helicopter: throttle spoolup upon arming
...
Uses COM_SPOOLUP_TIME to slowly ramp the throttle and allow the
tailrotor to compensate in a coordinated way based on the yaw
compesation from throttle, see CA_HELI_YAW_TH_S.
This coordinated spoolup is necessary to avoid unsafe yaw twitches
because of the heli rotating until the correct compensation kicks in
through the feedback controller.
2022-09-07 08:00:26 +02:00
7bf62373ae
Helicopter: refactor complicated throttle curve logic
2022-09-07 08:00:26 +02:00
9ba6f4efb7
Helicopter: add yaw compensation from throttle CA_HELI_YAW_TH_S
2022-09-07 08:00:26 +02:00
554d965a2d
Helicopter: use absolute value for yaw compensation from collective pitch
2022-09-07 08:00:26 +02:00
e346190e63
helicopter: use tail motor & add CA_HELI_YAW_CP_S
2022-09-07 08:00:25 +02:00
5cdb6fbd8e
control_allocator: add helicopter mixer
...
Same logic as the existing mixer.
Untested.
2022-05-10 08:57:39 +02:00
alexklimaj